--atomic flag for load & set

Signed-off-by: Brian Chen <[email protected]>

Author: ihasdapie

ros2param/ros2param/api/__init__.py

@@ -50,6 +50,10 @@ def load_parameter_file(*, node, node_name, 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()
+    if response is None:
+        raise RuntimeError('Exception while calling service of node '
+                           f'{node_name}: {future.exception()}')
+
     assert len(response.results) == len(parameters), 'Not all parameters set'
     for i in range(0, len(response.results)):
         result = response.results[i]
@@ -66,6 +70,26 @@ def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
             print(msg, file=sys.stderr)
 
 
+def load_parameter_file_atomically(*, 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')
+    future = client.load_parameter_file_atomically(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()
+    if response is None:
+        raise RuntimeError('Exception while calling service of node '
+                           f'{node_name}: {future.exception()}')
+
+    if response.result.successful:
+        msg = 'Set parameters {} successful'.format(' '.join([i.name for i in parameters]))
+        if response.result.reason:
+            msg += ': ' + response.result.reason
+        print(msg)
+
+
 def call_describe_parameters(*, node, node_name, parameter_names=None):
     client = AsyncParameterClient(node, node_name)
     ready = client.wait_for_services(timeout_sec=5.0)
@@ -96,6 +120,18 @@ def call_get_parameters(*, node, node_name, parameter_names):
     return response
 
 
+def call_set_parameters_atomically(*, node, node_name, parameters):
+    client = AsyncParameterClient(node, node_name)
+    client.wait_for_services(timeout_sec=5.0)
+    future = client.set_parameters_atomically(parameters)
+    rclpy.spin_until_future_complete(node, future)
+    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):
     client = AsyncParameterClient(node, node_name)
     ready = client.wait_for_services(timeout_sec=5.0)

ros2param/ros2param/verb/load.py

@@ -19,6 +19,7 @@
 from ros2node.api import get_node_names
 from ros2node.api import NodeNameCompleter
 from ros2param.api import load_parameter_file
+from ros2param.api import load_parameter_file_atomically
 from ros2param.verb import VerbExtension
 
 
@@ -39,6 +40,9 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--no-use-wildcard', action='store_true',
             help="Do not load parameters in the '/**' namespace into the node")
+        parser.add_argument(
+            '--atomic', action='store_true',
+            help='Load parameters atomically')
 
     def main(self, *, args):  # noqa: D102
         with NodeStrategy(args) as node:
@@ -50,5 +54,11 @@ def main(self, *, args):  # noqa: D102
             return 'Node not found'
 
         with DirectNode(args) as node:
-            load_parameter_file(node=node, node_name=node_name, parameter_file=args.parameter_file,
-                                use_wildcard=not args.no_use_wildcard)
+            if args.atomic:
+                load_parameter_file_atomically(node=node, node_name=node_name,
+                                               parameter_file=args.parameter_file,
+                                               use_wildcard=not args.no_use_wildcard)
+            else:
+                load_parameter_file(node=node, node_name=node_name,
+                                    parameter_file=args.parameter_file,
+                                    use_wildcard=not args.no_use_wildcard)

ros2param/ros2param/verb/set.py

@@ -24,6 +24,7 @@
 from ros2node.api import NodeNameCompleter
 
 from ros2param.api import call_set_parameters
+from ros2param.api import call_set_parameters_atomically
 from ros2param.api import ParameterNameCompleter
 from ros2param.verb import VerbExtension
 
@@ -47,6 +48,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '--include-hidden-nodes', action='store_true',
             help='Consider hidden nodes as well')
 
+        parser.add_argument(
+            '--atomic', action='store_true',
+            help='Set parameters atomically')
+
     def build_parameters(self, params):
         parameters = []
         if len(params) % 2:
@@ -72,9 +77,14 @@ def main(self, *, args):  # noqa: D102
 
         with DirectNode(args) as node:
             parameters = self.build_parameters(args.parameters)
-            response = call_set_parameters(
-                node=node, node_name=args.node_name, parameters=parameters)
-            results = response.results
+            if args.atomic:
+                response = call_set_parameters_atomically(node=node, node_name=args.node_name,
+                                                          parameters=parameters)
+                results = [response.result]
+            else:
+                response = call_set_parameters(node=node, node_name=args.node_name,
+                                               parameters=parameters)
+                results = response.results
 
             for result in results:
                 if result.successful:

ros2param/test/test_verb_load.py

@@ -294,6 +294,31 @@ def test_verb_load(self):
                 strict=True
             )
 
+    def test_verb_load_atomic(self):
+        with tempfile.TemporaryDirectory() as tmpdir:
+            filepath = self._write_param_file(tmpdir, 'params.yaml')
+            with self.launch_param_load_command(
+                arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', filepath, '--atomic']
+            ) as param_load_command:
+                assert param_load_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
+            assert param_load_command.exit_code == launch_testing.asserts.EXIT_OK
+            assert launch_testing.tools.expect_output(
+                expected_lines=[''],
+                text=param_load_command.output,
+                strict=True
+            )
+            # Dump with ros2 param dump and compare that output matches input file
+            with self.launch_param_dump_command(
+                arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}']
+            ) as param_dump_command:
+                assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
+            assert param_dump_command.exit_code == launch_testing.asserts.EXIT_OK
+            assert launch_testing.tools.expect_output(
+                expected_text=INPUT_PARAMETER_FILE + '\n',
+                text=param_dump_command.output,
+                strict=True
+            )
+
     def test_verb_load_wildcard(self):
         with tempfile.TemporaryDirectory() as tmpdir:
             # Try param file with only wildcard