From 0a0239598a635f59d934851e2af3479fabc1c5da Mon Sep 17 00:00:00 2001 From: "Minju, Lee" <70446214+leeminju531@users.noreply.github.com> Date: Wed, 13 Sep 2023 00:33:52 +0900 Subject: [PATCH] Fix _list_parameters_callback & test (#1161) Signed-off-by: leeminju531 --- rclpy/rclpy/parameter_service.py | 45 ++++------------------------- rclpy/test/test_parameter_client.py | 8 +++++ 2 files changed, 14 insertions(+), 39 deletions(-) diff --git a/rclpy/rclpy/parameter_service.py b/rclpy/rclpy/parameter_service.py index 111fb46ea..70830facf 100644 --- a/rclpy/rclpy/parameter_service.py +++ b/rclpy/rclpy/parameter_service.py @@ -14,11 +14,12 @@ import weakref +from rcl_interfaces.msg import ListParametersResult from rcl_interfaces.msg import SetParametersResult from rcl_interfaces.srv import DescribeParameters, GetParameters, GetParameterTypes from rcl_interfaces.srv import ListParameters, SetParameters, SetParametersAtomically from rclpy.exceptions import ParameterNotDeclaredException, ParameterUninitializedException -from rclpy.parameter import Parameter, PARAMETER_SEPARATOR_STRING +from rclpy.parameter import Parameter from rclpy.qos import qos_profile_parameters from rclpy.validate_topic_name import TOPIC_SEPARATOR_STRING @@ -98,45 +99,11 @@ def _get_parameter_types_callback(self, request, response): return response def _list_parameters_callback(self, request, response): - names_with_prefixes = [] node = self._get_node() - for name in node._parameters.keys(): - if PARAMETER_SEPARATOR_STRING in name: - names_with_prefixes.append(name) - continue - elif request.prefixes: - for prefix in request.prefixes: - if name.startswith(prefix): - response.result.names.append(name) - continue - else: - response.result.names.append(name) - if 1 == request.depth: - return response - - if not request.DEPTH_RECURSIVE == request.depth: - names_with_prefixes = filter( - lambda name: - name.count(PARAMETER_SEPARATOR_STRING) < request.depth, names_with_prefixes - ) - for name in names_with_prefixes: - if request.prefixes: - for prefix in request.prefixes: - if name.startswith(prefix + PARAMETER_SEPARATOR_STRING): - response.result.names.append(name) - full_prefix = PARAMETER_SEPARATOR_STRING.join( - name.split(PARAMETER_SEPARATOR_STRING)[0:-1]) - if full_prefix not in response.result.prefixes: - response.result.prefixes.append(full_prefix) - if prefix not in response.result.prefixes: - response.result.prefixes.append(prefix) - else: - prefix = PARAMETER_SEPARATOR_STRING.join( - name.split(PARAMETER_SEPARATOR_STRING)[0:-1]) - if prefix not in response.result.prefixes: - response.result.prefixes.append(prefix) - response.result.names.append(name) - + try: + response.result = node.list_parameters(request.prefixes, request.depth) + except (TypeError, ValueError): + response.result = ListParametersResult() return response def _set_parameters_callback(self, request, response): diff --git a/rclpy/test/test_parameter_client.py b/rclpy/test/test_parameter_client.py index 90779a59b..6797a0f4a 100644 --- a/rclpy/test/test_parameter_client.py +++ b/rclpy/test/test_parameter_client.py @@ -83,6 +83,14 @@ def test_list_parameters(self): assert 'int_arr_param' in results.result.names assert 'float.param..' in results.result.names + future = self.client.list_parameters(['float.param.'], 1) + self.executor.spin_until_future_complete(future) + results = future.result() + assert results is not None + assert 'int_arr_param' not in results.result.names + assert 'float.param..' in results.result.names + assert 'float.param.' in results.result.prefixes + def test_describe_parameters(self): future = self.client.describe_parameters(['int_arr_param']) self.executor.spin_until_future_complete(future)