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[roslaunch] Add yaml type for <param> tag #1045

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merged 11 commits into from
Jul 7, 2017
Merged

[roslaunch] Add yaml type for <param> tag #1045

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b44af6c
Add yaml type for <param> tag
wkentaro May 2, 2017
242cfcd
Support type for command output of <param> tag
wkentaro May 2, 2017
7c80460
Add test for yaml type
wkentaro May 2, 2017
0112b87
Add test for identifying commandline output as types
wkentaro May 2, 2017
ea65411
Support yaml type with textfile for <param>
wkentaro May 3, 2017
b746f71
Reserve current behavior with handling strip cleanly
wkentaro May 16, 2017
5b8718c
Revert <test_depend>rospy</test_depend>: no need
wkentaro May 22, 2017
2d8ae09
Revert no need strip()
wkentaro May 22, 2017
6e3e0b0
Remove the lazy import for yaml
wkentaro May 22, 2017
412d56e
Raise ValueError for yaml parse error
wkentaro May 25, 2017
c907f36
Strip for boolean rosparam
wkentaro May 25, 2017
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13 changes: 6 additions & 7 deletions tools/roslaunch/src/roslaunch/loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,13 @@
import os
from copy import deepcopy

import yaml

from roslaunch.core import Param, RosbinExecutable, RLException, PHASE_SETUP

from rosgraph.names import make_global_ns, ns_join, PRIV_NAME, load_mappings, is_legal_name, canonicalize_name

#lazy-import global for yaml and rosparam
yaml = None
rosparam = None

class LoadException(RLException):
Expand Down Expand Up @@ -94,6 +95,8 @@ def convert_value(value, type_):
elif value == 'false' or value == '0':
return False
raise ValueError("%s is not a '%s' type"%(value, type_))
elif type_ == 'yaml':
return yaml.load(value)
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How is that represented on the parameter server? Does this store a complex type (e.g. a nested dictionary) under a single name?

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It is set like this:

% rosparam get /test1
bin_contents:
  bin_I: [sharpie_accent_tank_style_highlighters, dr_browns_bottle_brush]
work_order:
- {bin: bin_I, item: sharpie_accent_tank_style_highlighters}

% rosparam get /test1/bin_contents/bin_I
[sharpie_accent_tank_style_highlighters, dr_browns_bottle_brush]


% rosparam get /test1/bin_contents
bin_I: [sharpie_accent_tank_style_highlighters, dr_browns_bottle_brush]

% rosparam get /test1/bin_contents/bin_I
[sharpie_accent_tank_style_highlighters, dr_browns_bottle_brush]

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Should any yaml specific exceptions be catched here and a ValueError be raised instead?

else:
raise ValueError("Unknown type '%s'"%type_)

Expand Down Expand Up @@ -395,10 +398,6 @@ def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=Tr
text = f.read()

# parse YAML text
# - lazy import
global yaml
if yaml is None:
import yaml
# - lazy import: we have to import rosparam in oder to to configure the YAML constructors
global rosparam
if rosparam is None:
Expand Down Expand Up @@ -468,7 +467,7 @@ def param_value(self, verbose, name, ptype, value, textfile, binfile, command):
return convert_value(value.strip(), ptype)
elif textfile is not None:
with open(textfile, 'r') as f:
return f.read()
return convert_value(f.read(), ptype)
elif binfile is not None:
try:
from xmlrpc.client import Binary
Expand Down Expand Up @@ -498,7 +497,7 @@ def param_value(self, verbose, name, ptype, value, textfile, binfile, command):
raise
if c_value is None:
raise ValueError("parameter: unable to get output of command [%s]"%command)
return c_value
return convert_value(c_value, ptype)
else: #_param_tag prevalidates, so this should not be reachable
raise ValueError("unable to determine parameter value")

9 changes: 9 additions & 0 deletions tools/roslaunch/test/xml/test-params-valid.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,9 @@

<param name="somefloat1" value="3.14159" type="double" />
<param name="somefloat2" value="5.0" />

<param name="someyaml1" value="[0, 1, 2]" type="yaml" />
<param name="someyaml2" value="{string1: bar2, string2: '10', integer1: 1, float1: 3.14, list1: [0, 1, 2], list2: ['a', 'b', 'c']}" type="yaml" />

<!-- you can set parameters in child namespaces -->
<param name="wg/wgchildparam" value="a child namespace parameter 1" />
Expand All @@ -32,6 +35,12 @@
<!-- upload the output of a command as a param. -->
<param name="commandoutput" command="cat &quot;$(find roslaunch)/resources/example.launch&quot;" />

<!-- upload the output of a command as a param as types. -->
<param name="commandoutputinteger" type="int" command="echo 0" />
<param name="commandoutputdouble" type="double" command="echo 10" />
<param name="commandoutputbool" type="bool" command="echo true" />
<param name="commandoutputyaml" type="yaml" command="cat &quot;$(find roslaunch)/test/params.yaml&quot;" />


<!-- test that we can override params -->
<param name="override" value="fail" />
Expand Down