refactor(bluetooth_monitor): rework parameters (#5239)

* refactor(bluetooth_monitor): rework parameters Signed-off-by: Yuqi Huai <[email protected]> * style(pre-commit): autofix * doc(bluetooth_monitor): fix default for integer parameters Signed-off-by: Yuqi Huai <[email protected]> * doc(bluetooth_monitor): add default for parameter addresses Signed-off-by: Yuqi Huai <[email protected]> * style(pre-commit): autofix * doc(bluetooth_monitor): fix parameter description --------- Signed-off-by: Yuqi Huai <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Nov 30, 2023 · 5df706e · 5df706e
1 parent 7d7c93e
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diff --git a/system/bluetooth_monitor/README.md b/system/bluetooth_monitor/README.md
@@ -46,12 +46,7 @@ L2ping is only allowed for root by default, so this package provides the followi
 
 ## Parameters
 
-| Name        | Type   | Default Value | Explanation                                               |
-| ----------- | ------ | ------------- | --------------------------------------------------------- |
-| `port`      | int    | 7640          | Port number to connect to L2ping service.                 |
-| `timeout`   | int    | 5             | Wait timeout seconds for the response.                    |
-| `rtt_warn`  | float  | 0.00          | RTT(Round-Trip Time) to generate warn.                    |
-| `addresses` | string | \*            | List of bluetooth address of wireless devices to monitor. |
+{{ json_to_markdown("system/bluetooth_monitor/schema/bluetooth_monitor.schema.json") }}
 
 - `rtt_warn`
 

diff --git a/system/bluetooth_monitor/schema/bluetooth_monitor.shcema.json b/system/bluetooth_monitor/schema/bluetooth_monitor.shcema.json
@@ -0,0 +1,51 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for bluetooth monitor",
+  "type": "object",
+  "definitions": {
+    "bluetooth_monitor": {
+      "type": "object",
+      "properties": {
+        "address": {
+          "type": "array",
+          "description": "Bluetooth addresses of the device to monitor",
+          "items": {
+            "type": "string"
+          },
+          "default": ["4C:B9:9B:6E:7F:9A"]
+        },
+        "port": {
+          "type": "integer",
+          "description": "Port number to connect to L2ping service on the host",
+          "default": 7640
+        },
+        "timeout": {
+          "type": "integer",
+          "description": "Time in seconds to wait for a response from the device",
+          "default": 5
+        },
+        "rtt_warn": {
+          "type": "number",
+          "description": "Time in seconds to warn if the round trip time is greater than this value",
+          "default": 0.1
+        }
+      },
+      "required": ["address", "port", "timeout", "rtt_warn"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/bluetooth_monitor"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/system/bluetooth_monitor/src/bluetooth_monitor.cpp b/system/bluetooth_monitor/src/bluetooth_monitor.cpp
@@ -32,16 +32,16 @@ BluetoothMonitor::BluetoothMonitor(const rclcpp::NodeOptions & options)
 : Node("bluetooth_monitor", options),
   updater_(this),
   socket_(-1),
-  port_(declare_parameter("port", DEFAULT_PORT))
+  port_(declare_parameter<int64_t>("port"))
 {
   // Get host name
   char host_name[HOST_NAME_MAX + 1];
   gethostname(host_name, sizeof(host_name));
 
   // Build L2ping configuration
-  config_.l2ping.timeout = declare_parameter("timeout", DEFAULT_TIMEOUT);
-  config_.l2ping.rtt_warn = declare_parameter("rtt_warn", RTT_NO_WARN);
-  config_.addresses = declare_parameter("addresses", std::vector<std::string>());
+  config_.l2ping.timeout = declare_parameter<int64_t>("timeout");
+  config_.l2ping.rtt_warn = declare_parameter<double>("rtt_warn");
+  config_.addresses = declare_parameter<std::vector<std::string>>("addresses");
 
   updater_.add("bluetooth_connection", this, &BluetoothMonitor::checkConnection);
   updater_.setHardwareID(host_name);