refactor: make ros2param use rclpy.parameter_client (#716)

Refactors ros2param to use rclpy.parameter_client (ros2/rclpy@3053a8a). 



Co-authored-by: Jacob Perron <[email protected]>
Signed-off-by: Brian Chen <[email protected]>

Author: ihasdapie

ros2param/ros2param/api/__init__.py

@@ -13,113 +13,44 @@
 # limitations under the License.
 
 import sys
+import warnings
 
-from rcl_interfaces.msg import Parameter
 from rcl_interfaces.msg import ParameterType
-from rcl_interfaces.msg import ParameterValue
-from rcl_interfaces.srv import DescribeParameters
-from rcl_interfaces.srv import GetParameters
-from rcl_interfaces.srv import ListParameters
-from rcl_interfaces.srv import SetParameters
 import rclpy
-from rclpy.parameter import PARAMETER_SEPARATOR_STRING
+from rclpy.parameter import get_parameter_value as rclpy_get_parameter_value
+from rclpy.parameter import parameter_dict_from_yaml_file
+from rclpy.parameter import parameter_value_to_python
+from rclpy.parameter_client import AsyncParameterClient
 from ros2cli.node.direct import DirectNode
 
-import yaml
+
+def get_parameter_value(*, string_value):
+    warnings.warn('get_parameter_value() is deprecated. '
+                  'Use rclpy.parameter.get_parameter_value instead')
+    return rclpy_get_parameter_value(string_value)
 
 
 def get_value(*, parameter_value):
     """Get the value from a ParameterValue."""
-    if parameter_value.type == ParameterType.PARAMETER_BOOL:
-        value = parameter_value.bool_value
-    elif parameter_value.type == ParameterType.PARAMETER_INTEGER:
-        value = parameter_value.integer_value
-    elif parameter_value.type == ParameterType.PARAMETER_DOUBLE:
-        value = parameter_value.double_value
-    elif parameter_value.type == ParameterType.PARAMETER_STRING:
-        value = parameter_value.string_value
-    elif parameter_value.type == ParameterType.PARAMETER_BYTE_ARRAY:
-        value = list(parameter_value.byte_array_value)
-    elif parameter_value.type == ParameterType.PARAMETER_BOOL_ARRAY:
-        value = list(parameter_value.bool_array_value)
-    elif parameter_value.type == ParameterType.PARAMETER_INTEGER_ARRAY:
-        value = list(parameter_value.integer_array_value)
-    elif parameter_value.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
-        value = list(parameter_value.double_array_value)
-    elif parameter_value.type == ParameterType.PARAMETER_STRING_ARRAY:
-        value = list(parameter_value.string_array_value)
-    elif parameter_value.type == ParameterType.PARAMETER_NOT_SET:
-        value = None
-    else:
-        value = None
-
-    return value
-
-
-def get_parameter_value(*, string_value):
-    """Guess the desired type of the parameter based on the string value."""
-    value = ParameterValue()
+    value = None
     try:
-        yaml_value = yaml.safe_load(string_value)
-    except yaml.parser.ParserError:
-        yaml_value = string_value
-
-    if isinstance(yaml_value, bool):
-        value.type = ParameterType.PARAMETER_BOOL
-        value.bool_value = yaml_value
-    elif isinstance(yaml_value, int):
-        value.type = ParameterType.PARAMETER_INTEGER
-        value.integer_value = yaml_value
-    elif isinstance(yaml_value, float):
-        value.type = ParameterType.PARAMETER_DOUBLE
-        value.double_value = yaml_value
-    elif isinstance(yaml_value, list):
-        if all((isinstance(v, bool) for v in yaml_value)):
-            value.type = ParameterType.PARAMETER_BOOL_ARRAY
-            value.bool_array_value = yaml_value
-        elif all((isinstance(v, int) for v in yaml_value)):
-            value.type = ParameterType.PARAMETER_INTEGER_ARRAY
-            value.integer_array_value = yaml_value
-        elif all((isinstance(v, float) for v in yaml_value)):
-            value.type = ParameterType.PARAMETER_DOUBLE_ARRAY
-            value.double_array_value = yaml_value
-        elif all((isinstance(v, str) for v in yaml_value)):
-            value.type = ParameterType.PARAMETER_STRING_ARRAY
-            value.string_array_value = yaml_value
-        else:
-            value.type = ParameterType.PARAMETER_STRING
-            value.string_value = string_value
-    else:
-        value.type = ParameterType.PARAMETER_STRING
-        value.string_value = yaml_value
+        value = parameter_value_to_python(parameter_value)
+    except RuntimeError as e:
+        print(f'Runtime error {e} raised')
     return value
 
 
-def parse_parameter_dict(*, namespace, parameter_dict):
-    parameters = []
-    for param_name, param_value in parameter_dict.items():
-        full_param_name = namespace + param_name
-        # Unroll nested parameters
-        if type(param_value) == dict:
-            parameters += parse_parameter_dict(
-                    namespace=full_param_name + PARAMETER_SEPARATOR_STRING,
-                    parameter_dict=param_value)
-        else:
-            parameter = Parameter()
-            parameter.name = full_param_name
-            parameter.value = get_parameter_value(string_value=str(param_value))
-            parameters.append(parameter)
-    return parameters
-
-
-def load_parameter_dict(*, node, node_name, parameter_dict):
-
-    parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
-    response = call_set_parameters(
-        node=node, node_name=node_name, parameters=parameters)
-
-    # output response
-    assert len(response.results) == len(parameters)
+def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
+    client = AsyncParameterClient(node, node_name)
+    ready = client.wait_for_services(timeout_sec=5.0)
+    if not ready:
+        raise RuntimeError('Wait for service timed out waiting for '
+                           f'parameter services for node {node_name}')
+    future = client.load_parameter_file(parameter_file, use_wildcard)
+    parameters = list(parameter_dict_from_yaml_file(parameter_file, use_wildcard).values())
+    rclpy.spin_until_future_complete(node, future)
+    response = future.result()
+    assert len(response.results) == len(parameters), 'Not all parameters set'
     for i in range(0, len(response.results)):
         result = response.results[i]
         param_name = parameters[i].name
@@ -135,105 +66,59 @@ def load_parameter_dict(*, node, node_name, parameter_dict):
             print(msg, file=sys.stderr)
 
 
-def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
-    # Remove leading slash and namespaces
-    with open(parameter_file, 'r') as f:
-        param_file = yaml.safe_load(f)
-        param_keys = []
-        if use_wildcard and '/**' in param_file:
-            param_keys.append('/**')
-        if node_name in param_file:
-            param_keys.append(node_name)
-
-        if param_keys == []:
-            raise RuntimeError('Param file does not contain parameters for {}, '
-                               ' only for nodes: {}' .format(node_name, param_file.keys()))
-        param_dict = {}
-        for k in param_keys:
-            value = param_file[k]
-            if type(value) != dict or 'ros__parameters' not in value:
-                raise RuntimeError('Invalid structure of parameter file for node {}'
-                                   'expected same format as provided by ros2 param dump'
-                                   .format(k))
-            param_dict.update(value['ros__parameters'])
-        load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)
-
-
 def call_describe_parameters(*, node, node_name, parameter_names=None):
-    # create client
-    client = node.create_client(
-        DescribeParameters, f'{node_name}/describe_parameters')
-
-    # call as soon as ready
-    ready = client.wait_for_service(timeout_sec=5.0)
+    client = AsyncParameterClient(node, node_name)
+    ready = client.wait_for_services(timeout_sec=5.0)
     if not ready:
-        raise RuntimeError('Wait for service timed out')
-
-    request = DescribeParameters.Request()
-    if parameter_names:
-        request.names = parameter_names
-    future = client.call_async(request)
+        raise RuntimeError('Wait for service timed out waiting for '
+                           f'parameter services for node {node_name}')
+    future = client.describe_parameters(parameter_names)
     rclpy.spin_until_future_complete(node, future)
-
-    # handle response
     response = future.result()
+    if response is None:
+        raise RuntimeError('Exception while calling service of node '
+                           f'{node_name}: {future.exception()}')
     return response
 
 
 def call_get_parameters(*, node, node_name, parameter_names):
-    # create client
-    client = node.create_client(GetParameters, f'{node_name}/get_parameters')
-
-    # call as soon as ready
-    ready = client.wait_for_service(timeout_sec=5.0)
+    client = AsyncParameterClient(node, node_name)
+    ready = client.wait_for_services(timeout_sec=5.0)
     if not ready:
-        raise RuntimeError('Wait for service timed out')
-
-    request = GetParameters.Request()
-    request.names = parameter_names
-    future = client.call_async(request)
+        raise RuntimeError('Wait for service timed out waiting for '
+                           f'parameter services for node {node_name}')
+    future = client.get_parameters(parameter_names)
     rclpy.spin_until_future_complete(node, future)
-
-    # handle response
     response = future.result()
+    if response is None:
+        raise RuntimeError('Exception while calling service of node '
+                           f'{node_name}: {future.exception()}')
     return response
 
 
 def call_set_parameters(*, node, node_name, parameters):
-    # create client
-    client = node.create_client(SetParameters, f'{node_name}/set_parameters')
-
-    # call as soon as ready
-    ready = client.wait_for_service(timeout_sec=5.0)
+    client = AsyncParameterClient(node, node_name)
+    ready = client.wait_for_services(timeout_sec=5.0)
     if not ready:
-        raise RuntimeError('Wait for service timed out')
-
-    request = SetParameters.Request()
-    request.parameters = parameters
-    future = client.call_async(request)
+        raise RuntimeError('Wait for service timed out waiting for '
+                           f'parameter services for node {node_name}')
+    future = client.set_parameters(parameters)
     rclpy.spin_until_future_complete(node, future)
-
-    # handle response
     response = future.result()
+    if response is None:
+        raise RuntimeError('Exception while calling service of node '
+                           f'{node_name}: {future.exception()}')
     return response
 
 
-def call_list_parameters(*, node, node_name, prefix=None):
-    # create client
-    client = node.create_client(ListParameters, f'{node_name}/list_parameters')
-
-    # call as soon as ready
-    ready = client.wait_for_service(timeout_sec=5.0)
+def call_list_parameters(*, node, node_name, prefixes=None):
+    client = AsyncParameterClient(node, node_name)
+    ready = client.wait_for_services(timeout_sec=5.0)
     if not ready:
-        raise RuntimeError('Wait for service timed out')
-
-    request = ListParameters.Request()
-    future = client.call_async(request)
+        return None
+    future = client.list_parameters(prefixes=prefixes)
     rclpy.spin_until_future_complete(node, future)
-
-    # handle response
-    response = future.result()
-    return response.result.names
+    return future
 
 
 def get_parameter_type_string(parameter_type):

ros2param/ros2param/verb/dump.py

@@ -15,24 +15,19 @@
 import os
 import sys
 
-from rcl_interfaces.srv import ListParameters
-
-import rclpy
 from rclpy.parameter import PARAMETER_SEPARATOR_STRING
-
 from ros2cli.node.direct import DirectNode
 from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
-
 from ros2node.api import get_absolute_node_name
 from ros2node.api import get_node_names
 from ros2node.api import NodeNameCompleter
 from ros2node.api import parse_node_name
 
 from ros2param.api import call_get_parameters
+from ros2param.api import call_list_parameters
 from ros2param.api import get_value
 from ros2param.verb import VerbExtension
-
 import yaml
 
 
@@ -57,17 +52,17 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             help='DEPRECATED: Does nothing.')
 
     @staticmethod
-    def get_parameter_value(node, node_name, param):
+    def get_parameter_values(node, node_name, params):
         response = call_get_parameters(
             node=node, node_name=node_name,
-            parameter_names=[param])
+            parameter_names=params)
 
         # requested parameter not set
         if not response.values:
             return '# Parameter not set'
 
         # extract type specific value
-        return get_value(parameter_value=response.values[0])
+        return [get_value(parameter_value=i) for i in response.values]
 
     def insert_dict(self, dictionary, key, value):
         split = key.split(PARAMETER_SEPARATOR_STRING, 1)
@@ -94,36 +89,28 @@ def main(self, *, args):  # noqa: D102
                 f"'{args.output_dir}' is not a valid directory.")
 
         with DirectNode(args) as node:
-            # create client
-            service_name = f'{absolute_node_name}/list_parameters'
-            client = node.create_client(ListParameters, service_name)
-
-            client.wait_for_service()
-
-            if not client.service_is_ready():
-                raise RuntimeError(f"Could not reach service '{service_name}'")
-
-            request = ListParameters.Request()
-            future = client.call_async(request)
-
-            # wait for response
-            rclpy.spin_until_future_complete(node, future)
-
             yaml_output = {node_name.full_name: {'ros__parameters': {}}}
 
             # retrieve values
-            if future.result() is not None:
-                response = future.result()
-                for param_name in sorted(response.result.names):
-                    pval = self.get_parameter_value(node, absolute_node_name, param_name)
-                    self.insert_dict(
-                        yaml_output[node_name.full_name]['ros__parameters'], param_name, pval)
-            else:
-                e = future.exception()
+            response = call_list_parameters(node=node, node_name=absolute_node_name)
+            if response is None:
+                raise RuntimeError(
+                    'Wait for service timed out waiting for '
+                    f'parameter services for node {node_name.full_name}')
+            elif response.result() is None:
+                e = response.exception()
                 raise RuntimeError(
                     'Exception while calling service of node '
                     f"'{node_name.full_name}': {e}")
 
+            response = response.result().result.names
+            response = sorted(response)
+            parameter_values = self.get_parameter_values(node, absolute_node_name, response)
+
+            for param_name, pval in zip(response, parameter_values):
+                self.insert_dict(
+                    yaml_output[node_name.full_name]['ros__parameters'], param_name, pval)
+
             if args.print:
                 print(
                     "WARNING: '--print' is deprecated; this utility prints to stdout by default",