Fixed issue occuring during alternating calls of getParamCached and s…

…etParam (#1439)

* test_roscpp/params/added getParamCachedSetParamLoop

* rosmaster: set_param: the not update the caller!

* rosmaster: set_param: do not update the caller more fine grained

* /rosmaster/paramserver/compute_params_update, apply filter only if caller_id_to_ignore is not None

* /test_rospy/talker: set publishers queue_size to supress warning

* /test_rospy/sub_to_multple_pubs: moved listener up to avoid warnings

* refactor for readability

* pep8

test/test_roscpp/test/src/params.cpp

@@ -566,12 +566,23 @@ TEST(Params, getParamNames) {
   EXPECT_LT(10u, test_params.size());
 }
 
+TEST(Params, getParamCachedSetParamLoop) {
+  NodeHandle nh;
+  const std::string name = "changeable_int";
+  for (int i = 0; i < 100; i++) {
+    nh.setParam(name, i);
+    int v = 0;
+    ASSERT_TRUE(nh.getParamCached(name, v));
+    ASSERT_EQ(i, v);
+  }
+}
+
 int
 main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  ros::init( argc, argv, "params" );
-//  ros::NodeHandle nh;
+  ros::init(argc, argv, "params");
+  ros::NodeHandle nh;
 
   return RUN_ALL_TESTS();
 }

test/test_rospy/test/rostest/sub_to_multiple_pubs.test

@@ -1,4 +1,5 @@
 <launch>
+  <node name="listener" pkg="test_rospy" type="listener.py" />
   <node name="talker1" pkg="test_rospy" type="talker.py" />
   <node name="talker2" pkg="test_rospy" type="talker.py" />
   <node name="talker3" pkg="test_rospy" type="talker.py" />
@@ -98,6 +99,5 @@
   <node name="talker97" pkg="test_rospy" type="talker.py" />
   <node name="talker98" pkg="test_rospy" type="talker.py" />
   <node name="talker99" pkg="test_rospy" type="talker.py" />
-  <node name="listener" pkg="test_rospy" type="listener.py" />
   <test test-name="sub_to_multiple_pubs" pkg="test_rospy" type="test_sub_to_multiple_pubs.py" />
 </launch>

tools/rosmaster/src/rosmaster/master_api.py

@@ -375,7 +375,7 @@ def setParam(self, caller_id, key, value):
         @rtype: [int, str, int]
         """
         key = resolve_name(key, caller_id)
-        self.param_server.set_param(key, value, self._notify_param_subscribers)
+        self.param_server.set_param(key, value, self._notify_param_subscribers, caller_id)
         mloginfo("+PARAM [%s] by %s",key, caller_id)
         return 1, "parameter %s set"%key, 0
 

tools/rosmaster/src/rosmaster/paramserver.py

@@ -166,7 +166,7 @@ def get_param(self, key):
         finally:
             self.lock.release()
 
-    def set_param(self, key, value, notify_task=None):
+    def set_param(self, key, value, notify_task=None, caller_id=None):
         """
         Set the parameter in the parameter dictionary.
 
@@ -178,6 +178,8 @@ def set_param(self, key, value, notify_task=None):
         [(subscribers, param_key, param_value)*]. The empty dictionary
         represents an unset parameter.
         @type  notify_task: fn(updates)
+        @param caller_id: the caller id
+        @type caller_id: str
         """
         try:
             self.lock.acquire()
@@ -208,7 +210,7 @@ def set_param(self, key, value, notify_task=None):
 
             # ParamDictionary needs to queue updates so that the updates are thread-safe
             if notify_task:
-                updates = compute_param_updates(self.reg_manager.param_subscribers, key, value)
+                updates = compute_param_updates(self.reg_manager.param_subscribers, key, value, caller_id)
                 if updates:
                     notify_task(updates)
         finally:
@@ -332,7 +334,7 @@ def _compute_all_keys(param_key, param_value, all_keys=None):
             _compute_all_keys(new_k, v, all_keys)
     return all_keys
 
-def compute_param_updates(subscribers, param_key, param_value):
+def compute_param_updates(subscribers, param_key, param_value, caller_id_to_ignore=None):
     """
     Compute subscribers that should be notified based on the parameter update
     @param subscribers: parameter subscribers
@@ -341,6 +343,8 @@ def compute_param_updates(subscribers, param_key, param_value):
     @type  param_key: str
     @param param_value: parameter value
     @type  param_value: str
+    @param caller_id_to_ignore: the caller to ignore
+    @type caller_id_to_ignore: str
     """
 
     # logic correct for both updates and deletions
@@ -368,6 +372,11 @@ def compute_param_updates(subscribers, param_key, param_value):
             ns_key = sub_key + SEP
         if param_key.startswith(ns_key):
             node_apis = subscribers[sub_key]
+            if caller_id_to_ignore is not None:
+                node_apis = [
+                    (caller_id, caller_api)
+                    for (caller_id, caller_api) in node_apis
+                    if caller_id != caller_id_to_ignore]
             updates.append((node_apis, param_key, param_value))
         elif all_keys is not None and ns_key.startswith(param_key) \
              and not sub_key in all_keys: