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Add substitution when loading yaml files #1354

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merged 2 commits into from
Apr 5, 2018
Merged

Add substitution when loading yaml files #1354

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db45ec5
Add substitution when loading yaml files
nano-meter Mar 22, 2018
a7ed7d8
Add tests
nano-meter Mar 26, 2018
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4 changes: 3 additions & 1 deletion tools/roslaunch/src/roslaunch/loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -365,7 +365,7 @@ def add_param(self, ros_config, param_name, param_value, verbose=True):
else:
ros_config.add_param(Param(param_name, param_value), verbose=verbose)

def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=True):
def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=True, subst_function=None):
"""
Load rosparam setting
Expand Down Expand Up @@ -401,6 +401,8 @@ def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=Tr
with open(file_, 'r') as f:
text = f.read()

if subst_function is not None:
text = subst_function(text)
# parse YAML text
# - lazy import: we have to import rosparam in oder to to configure the YAML constructors
global rosparam
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5 changes: 3 additions & 2 deletions tools/roslaunch/src/roslaunch/xmlloader.py
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Expand Up @@ -235,9 +235,10 @@ def _rosparam_tag(self, tag, context, ros_config, verbose=True):
# load is the default command
cmd = cmd or 'load'
value = _get_text(tag)
subst_function = None
if subst_value:
value = self.resolve_args(value, context)
self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose)
subst_function = lambda x: self.resolve_args(x, context)
self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose, subst_function=subst_function)
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Without the patch even a plain value (no file) was being substituted when subst_value was set. After this change substitution seems to only happen on the file content. Is that intentional? This seems to change the existing behavior which would be undesired.

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@nano-meter nano-meter Apr 2, 2018 •
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No, I am not changing existing behavior, the code that does the change is moved to
https://github.com/nano-meter/ros_comm/blob/a7ed7d8c003f52757b75121ee021b578b4b33a07/tools/roslaunch/src/roslaunch/loader.py#L405

This way both value and file content substitution is handled the same way.
I also created tests for file and value substitution, so if I introduced undesired changes, those probably would have caught it. If you see a problem, please tell me so I could fix it.

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Thanks for clarifying. I see now this is only relevant when cmd is load where it is handles in the function. The other commands don't mind about value so it is ok to not substitute it in these cases.


except ValueError as e:
raise loader.LoadException("error loading <rosparam> tag: \n\t"+str(e)+"\nXML is %s"%tag.toxml())
Expand Down
1 change: 1 addition & 0 deletions tools/roslaunch/test/params_subst.yaml
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@@ -0,0 +1 @@
string1: $(anon foo)
8 changes: 8 additions & 0 deletions tools/roslaunch/test/unit/test_xmlloader.py
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Expand Up @@ -242,6 +242,10 @@ def test_rosparam_valid(self):
self.assertEquals('bar', p.value)
p = [p for p in mock.params if p.key == '/node_rosparam/robots/childparam'][0]
self.assertEquals('a child namespace parameter', p.value)

# test substitution in yaml files
p = [p for p in mock.params if p.key == '/rosparam_subst/string1'][0]
self.assertTrue('$(anon foo)' not in p.value)

exes = [e for e in mock.executables if e.command == 'rosparam']
self.assertEquals(len(exes), 2, "expected 2 rosparam exes, got %s"%len(exes))
Expand Down Expand Up @@ -274,6 +278,10 @@ def test_rosparam_valid(self):
p = [p for p in mock.params if p.key == '/inline_dict2/key4'][0]
self.assertEquals('value4', p.value)

# test substitution in inline yaml
p = [p for p in mock.params if p.key == '/inline_subst'][0]
self.assertTrue('$(anon foo)' not in p.value)

# verify that later tags override
# - key2 is overriden
self.assertEquals(1, len([p for p in mock.params if p.key == '/override/key1']))
Expand Down
6 changes: 6 additions & 0 deletions tools/roslaunch/test/xml/test-rosparam-valid.xml
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Expand Up @@ -12,13 +12,19 @@
<rosparam file="$(find roslaunch)/test/params.yaml" command="load" />
</node>

<group ns="rosparam_subst">
<rosparam file="$(find roslaunch)/test/params_subst.yaml" command="load" subst_value="true" />
</group>

<rosparam param="inline_str">value1</rosparam>
<rosparam param="inline_list">[1, 2, 3, 4]</rosparam>
<rosparam param="inline_dict">{key1: value1, key2: value2}</rosparam>
<rosparam param="inline_dict2">
key3: value3
key4: value4
</rosparam>

<rosparam param="inline_subst" subst_value="true">$(anon foo)</rosparam>

<rosparam param="override">{key1: value1, key2: value2}</rosparam>
<rosparam param="override">{key1: override1}</rosparam>
Expand Down