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Add param dump <node-name> (#285)
* wip param dump Signed-off-by: artivis <[email protected]> * default path & cleanup Signed-off-by: artivis <[email protected]> * wip test verb dump Signed-off-by: artivis <[email protected]> * rm spin_once Signed-off-by: artivis <[email protected]> * nested namespaces Signed-off-by: artivis <[email protected]> * cleaning up Signed-off-by: artivis <[email protected]> * multithread the test Signed-off-by: artivis <[email protected]> * todo use PARAMETER_SEPARATOR_STRING Signed-off-by: artivis <[email protected]> * test comp generate<->expected param file Signed-off-by: artivis <[email protected]> * lipstick Signed-off-by: artivis <[email protected]> * use proper PARAMETER_SEPARATOR_STRING Signed-off-by: artivis <[email protected]> * mv common code to api Signed-off-by: artivis <[email protected]> * rename param output-dir Signed-off-by: artivis <[email protected]> * rm line breaks Signed-off-by: artivis <[email protected]> * raise rather than print Signed-off-by: artivis <[email protected]> * rm useless import Signed-off-by: artivis <[email protected]> * raise rather than print Signed-off-by: artivis <[email protected]> * add --print option Signed-off-by: artivis <[email protected]> * prepend node namespace to output filename Signed-off-by: artivis <[email protected]> * preempted -> preempt Signed-off-by: Shane Loretz <[email protected]> * "w" -> 'w' Signed-off-by: Shane Loretz <[email protected]> * Output file using fully qualified node name Signed-off-by: Shane Loretz<[email protected]> Signed-off-by: Shane Loretz <[email protected]> * fix linter tests Signed-off-by: artivis <[email protected]> * relaxe --print preempt test Signed-off-by: artivis <[email protected]>
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‎ros2param/ros2param/api/__init__.py‎

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import yaml
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def get_value(*, parameter_value):
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"""Get the value from a ParameterValue."""
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if parameter_value.type == ParameterType.PARAMETER_BOOL:
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value = parameter_value.bool_value
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elif parameter_value.type == ParameterType.PARAMETER_INTEGER:
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value = parameter_value.integer_value
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elif parameter_value.type == ParameterType.PARAMETER_DOUBLE:
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value = parameter_value.double_value
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elif parameter_value.type == ParameterType.PARAMETER_STRING:
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value = parameter_value.string_value
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elif parameter_value.type == ParameterType.PARAMETER_BYTE_ARRAY:
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value = parameter_value.byte_array_value
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elif parameter_value.type == ParameterType.PARAMETER_BOOL_ARRAY:
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value = parameter_value.bool_array_value
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elif parameter_value.type == ParameterType.PARAMETER_INTEGER_ARRAY:
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value = parameter_value.integer_array_value
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elif parameter_value.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
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value = parameter_value.double_array_value
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elif parameter_value.type == ParameterType.PARAMETER_STRING_ARRAY:
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value = parameter_value.string_array_value
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elif parameter_value.type == ParameterType.PARAMETER_NOT_SET:
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value = None
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else:
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value = None
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return value
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def get_parameter_value(*, string_value):
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"""Guess the desired type of the parameter based on the string value."""
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value = ParameterValue()

‎ros2param/ros2param/verb/dump.py‎

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# Copyright 2019 Canonical Ltd.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from rcl_interfaces.srv import ListParameters
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import rclpy
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from rclpy.parameter import PARAMETER_SEPARATOR_STRING
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from ros2cli.node.direct import DirectNode
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from ros2cli.node.strategy import add_arguments
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from ros2cli.node.strategy import NodeStrategy
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from ros2node.api import get_absolute_node_name
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from ros2node.api import get_node_names
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from ros2node.api import NodeNameCompleter
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from ros2node.api import parse_node_name
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from ros2param.api import call_get_parameters
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from ros2param.api import get_value
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from ros2param.verb import VerbExtension
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import yaml
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class DumpVerb(VerbExtension):
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"""Dump the parameters of a node to a yaml file."""
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def add_arguments(self, parser, cli_name): # noqa: D102
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add_arguments(parser)
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arg = parser.add_argument(
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'node_name', help='Name of the ROS node')
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arg.completer = NodeNameCompleter(
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include_hidden_nodes_key='include_hidden_nodes')
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parser.add_argument(
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'--include-hidden-nodes', action='store_true',
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help='Consider hidden nodes as well')
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parser.add_argument(
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'--output-dir',
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default='.',
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help='The absolute path were to save the generated file')
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parser.add_argument(
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'--print', action='store_true',
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help='Print generated file in terminal rather than saving a file.')
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@staticmethod
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def get_parameter_value(node, node_name, param):
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response = call_get_parameters(
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node=node, node_name=node_name,
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parameter_names=[param])
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# requested parameter not set
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if not response.values:
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return '# Parameter not set'
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# extract type specific value
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return get_value(parameter_value=response.values[0])
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def insert_dict(self, dictionary, key, value):
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split = key.split(PARAMETER_SEPARATOR_STRING, 1)
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if len(split) > 1:
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if not split[0] in dictionary:
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dictionary[split[0]] = {}
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self.insert_dict(dictionary[split[0]], split[1], value)
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else:
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dictionary[key] = value
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def main(self, *, args): # noqa: D102
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with NodeStrategy(args) as node:
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node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden_nodes)
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absolute_node_name = get_absolute_node_name(args.node_name)
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node_name = parse_node_name(absolute_node_name)
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if absolute_node_name:
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if absolute_node_name not in [n.full_name for n in node_names]:
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return 'Node not found'
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if not os.path.isdir(args.output_dir):
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raise RuntimeError(
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"'{args.output_dir}' is not a valid directory.".format_map(locals()))
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with DirectNode(args) as node:
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# create client
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service_name = '{absolute_node_name}/list_parameters'.format_map(locals())
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client = node.create_client(ListParameters, service_name)
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client.wait_for_service()
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if not client.service_is_ready():
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raise RuntimeError("Could not reach service '{service_name}'".format_map(locals()))
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request = ListParameters.Request()
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future = client.call_async(request)
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# wait for response
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rclpy.spin_until_future_complete(node, future)
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yaml_output = {node_name.name: {'ros__parameters': {}}}
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# retrieve values
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if future.result() is not None:
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response = future.result()
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for param_name in sorted(response.result.names):
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pval = self.get_parameter_value(node, absolute_node_name, param_name)
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self.insert_dict(
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yaml_output[node_name.name]['ros__parameters'], param_name, pval)
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else:
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e = future.exception()
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raise RuntimeError('Exception while calling service of node '
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"'{node_name.full_name}': {e}".format_map(locals()))
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if args.print:
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print(yaml.dump(yaml_output, default_flow_style=False))
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return
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if absolute_node_name[0] == '/':
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file_name = absolute_node_name[1:].replace('/', '__')
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else:
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file_name = absolute_node_name.replace('/', '__')
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print('Saving to: ', os.path.join(args.output_dir, file_name + '.yaml'))
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with open(os.path.join(args.output_dir, file_name + '.yaml'), 'w') as yaml_file:
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yaml.dump(yaml_output, yaml_file, default_flow_style=False)

‎ros2param/setup.py‎

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],
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'ros2param.verb': [
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'delete = ros2param.verb.delete:DeleteVerb',
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'dump = ros2param.verb.dump:DumpVerb',
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'get = ros2param.verb.get:GetVerb',
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'list = ros2param.verb.list:ListVerb',
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'set = ros2param.verb.set:SetVerb',

‎ros2param/test/test_verb_dump.py‎

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# Copyright 2019 Canonical Ltd
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from io import StringIO
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import os
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import tempfile
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import threading
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import unittest
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from unittest.mock import patch
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import rclpy
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from rclpy.executors import MultiThreadedExecutor
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from rclpy.parameter import PARAMETER_SEPARATOR_STRING
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from ros2cli import cli
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TEST_NODE = 'test_node'
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TEST_NAMESPACE = 'foo'
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EXPECTED_PARAMETER_FILE = """\
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test_node:
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ros__parameters:
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bool_param: true
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double_param: 1.23
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foo:
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bar:
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str_param: foobar
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str_param: foo
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int_param: 42
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str_param: Hello World
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"""
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class TestVerbDump(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.context = rclpy.context.Context()
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rclpy.init(context=cls.context)
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cls.node = rclpy.create_node(
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TEST_NODE, namespace=TEST_NAMESPACE, context=cls.context)
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cls.executor = MultiThreadedExecutor(context=cls.context, num_threads=2)
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cls.executor.add_node(cls.node)
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cls.node.declare_parameter('bool_param', True)
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cls.node.declare_parameter('int_param', 42)
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cls.node.declare_parameter('double_param', 1.23)
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cls.node.declare_parameter('str_param', 'Hello World')
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cls.node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
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'str_param', 'foo')
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cls.node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
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'bar' + PARAMETER_SEPARATOR_STRING +
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'str_param', 'foobar')
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# We need both the test node and 'dump'
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# node to be able to spin
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cls.exec_thread = threading.Thread(target=cls.executor.spin)
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cls.exec_thread.start()
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@classmethod
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def tearDownClass(cls):
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cls.executor.shutdown()
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cls.node.destroy_node()
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rclpy.shutdown(context=cls.context)
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cls.exec_thread.join()
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def _output_file(self):
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ns = self.node.get_namespace()
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name = self.node.get_name()
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if '/' == ns:
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fqn = ns + name
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else:
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fqn = ns + '/' + name
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return fqn[1:].replace('/', '__') + '.yaml'
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def test_verb_dump_invalid_node(self):
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assert cli.main(
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argv=['param', 'dump', 'invalid_node']) == 'Node not found'
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assert cli.main(
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argv=['param', 'dump', 'invalid_ns/test_node']) == 'Node not found'
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def test_verb_dump_invalid_path(self):
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assert cli.main(
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argv=['param', 'dump', 'foo/test_node', '--output-dir', 'invalid_path']) \
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== "'invalid_path' is not a valid directory."
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def test_verb_dump(self):
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with tempfile.TemporaryDirectory() as tmpdir:
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assert cli.main(
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argv=['param', 'dump', '/foo/test_node', '--output-dir', tmpdir]) is None
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# Compare generated parameter file against expected
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generated_param_file = os.path.join(tmpdir, self._output_file())
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assert (open(generated_param_file, 'r').read() == EXPECTED_PARAMETER_FILE)
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def test_verb_dump_print(self):
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with patch('sys.stdout', new=StringIO()) as fake_stdout:
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assert cli.main(
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argv=['param', 'dump', 'foo/test_node', '--print']) is None
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# Compare generated stdout against expected
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assert fake_stdout.getvalue().strip() == EXPECTED_PARAMETER_FILE[:-1]
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with tempfile.TemporaryDirectory() as tmpdir:
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assert cli.main(
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argv=['param', 'dump', 'foo/test_node', '--output-dir', tmpdir, '--print']) is None
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not_generated_param_file = os.path.join(tmpdir, self._output_file())
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with self.assertRaises(OSError) as context:
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open(not_generated_param_file, 'r')
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# Make sure the file was not create, thus '--print' did preempt
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assert '[Errno 2] No such file or directory' in str(context.exception)

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