Restore functionality for mapped params with no struct name (#185)

* Restore functionality for mapped params with no struct name

* Fix nested maps with no struct name

Author: sea-bass

.gitignore

@@ -0,0 +1 @@
+**/__pycache__

example/config/implementation.yaml

@@ -11,6 +11,10 @@ admittance_controller:
     fixed_string_no_default:
       "happy"
 
+    elbow_joint:
+      x:
+        weight: 2.0
+
     pid:
       shoulder_pan_joint:
         i: 0.7

example/src/parameters.yaml

@@ -24,6 +24,17 @@ admittance_controller:
     description: "specifies which joints will be used by the controller",
   }
 
+  __map_joints:
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
+      }
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:

example_python/config/implementation.yaml

@@ -11,6 +11,10 @@ admittance_controller:
     fixed_string_no_default:
       "happy"
 
+    elbow_joint:
+      x:
+        weight: 2.0
+
     pid:
       shoulder_pan_joint:
         i: 0.7

example_python/generate_parameter_module_example/parameters.yaml

@@ -32,6 +32,17 @@ admittance_controller:
     description: "specifies which joints will be used by the controller",
   }
 
+  __map_joints:
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
+      }
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter

@@ -2,10 +2,18 @@
 for (const auto & value_{{loop.index}} : updated_params.{{mapped_param}}) {
 {% endfor -%}
 {%- filter indent(width=4) -%}
+{% if struct_name != "" %}
 auto& entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
+{% else %}
+auto& entry = {{param_struct_instance}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
+{% endif -%}
 std::string value = fmt::format("{%- for mapped_param in mapped_params -%}{% if loop.index == 1 %}{}{% else %}.{}{% endif -%} {%- endfor -%}",
 {%- for mapped_param in mapped_params -%}{% if loop.index == 1 %} value_{{loop.index}}{% else %}, value_{{loop.index}}{% endif -%} {%- endfor %});
+{% if struct_name != "" %}
 auto param_name = fmt::format("{}{}.{}.{}", prefix_, "{{struct_name}}", value, "{{parameter_field}}");
+{% else %}
+auto param_name = fmt::format("{}{}.{}", prefix_, value, "{{parameter_field}}");
+{% endif -%}
 if (!parameters_interface_->has_parameter(param_name)) {
 {%- filter indent(width=4) %}
 rcl_interfaces::msg::ParameterDescriptor descriptor;

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/remove_runtime_parameter

@@ -2,7 +2,11 @@
     std::set<std::string> {{mapped_param}}_set(updated_params.{{mapped_param}}.begin(), updated_params.{{mapped_param}}.end());
     for (const auto &it: updated_params.{{parameter_map}}) {
         if ({{mapped_param}}_set.find(it.first) == {{mapped_param}}_set.end()) {
+            {% if struct_name != "" %}
             auto param_name = fmt::format("{}{}.{}.{}", prefix_, "{{struct_name}}", it.first, "{{parameter_field}}");
+            {% else %}
+            auto param_name = fmt::format("{}{}.{}", prefix_, it.first, "{{parameter_field}}");
+            {% endif -%}
             parameters_interface_->undeclare_parameter(param_name);
         }
     }

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter

@@ -4,13 +4,21 @@ for (const auto & value_{{loop.index}} : updated_params.{{mapped_param}}) {
 {%- filter indent(width=4) -%}
 std::string value = fmt::format("{%- for mapped_param in mapped_params -%}{% if loop.index == 1 %}{}{% else %}.{}{% endif -%} {%- endfor -%}",
 {%- for mapped_param in mapped_params -%}{% if loop.index == 1 %} value_{{loop.index}}{% else %}, value_{{loop.index}}{% endif -%} {%- endfor %});
+{% if struct_name != "" %}
 auto param_name = fmt::format("{}{}.{}.{}", prefix_, "{{struct_name}}", value, "{{parameter_field}}");
+{% else %}
+auto param_name = fmt::format("{}{}.{}", prefix_, value, "{{parameter_field}}");
+{% endif -%}
 if (param.get_name() == param_name) {
 {%- filter indent(width=4) %}
 {% if parameter_validations|length -%}
 {{parameter_validations-}}
 {% endif -%}
+{% if struct_name != "" %}
 updated_params.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
+{% else %}
+updated_params{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
+{% endif -%}
 RCLCPP_DEBUG_STREAM(logger_, param.get_name() << ": " << param.get_type_name() << " = " << param.value_to_string());
 {% endfilter -%}
 }

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter

@@ -4,9 +4,15 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {%- endfilter -%}
 {% endfor -%}
 {%- filter indent(width=4*(mapped_params|length)) %}
+{% if struct_name != "" %}
 {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
 entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+param_name = f"{self.prefix_}{{struct_name}}.{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% else %}
+{{param_struct_instance}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
+entry = {{param_struct_instance}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% endif -%}
 if not self.node_.has_parameter(self.prefix_ + param_name):
 {%- filter indent(width=4) %}
 descriptor = ParameterDescriptor(description="{{parameter_description|valid_string_python}}", read_only = {{parameter_read_only}})

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter

@@ -4,13 +4,21 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {%- endfilter -%}
 {% endfor -%}
 {%- filter indent(width=4*(1+mapped_params|length)) %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+{% if struct_name != "" %}
+param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% else %}
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% endif -%}
 if param.name == param_name:
 {%- filter indent(width=4) %}
 {% if parameter_validations|length -%}
 {{parameter_validations-}}
 {% endif -%}
+{% if struct_name != "" %}
 updated_params.{{struct_name}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}.{{parameter_field}} = param.{{parameter_as_function}}
+{% else %}
+updated_params{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}.{{parameter_field}} = param.{{parameter_as_function}}
+{% endif -%}
 self.logger_.debug(param.name + ": " + param.type_.name + " = " + str(param.value))
 {% endfilter -%}
 {% endfilter -%}