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Add parsing for rest of obvious boolean extra arguments and throw for unsupported ones #2685

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Add parsing for rest of obvious boolean extra arguments and throw for unsupported ones #2685

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f6ea412
Parse rest of obvious extra arguments for node options
rcp1 Nov 21, 2024
e15546b
Throw for invalid extra arguments
rcp1 Nov 21, 2024
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59 changes: 49 additions & 10 deletions rclcpp_components/src/component_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,24 +169,63 @@ ComponentManager::create_node_options(const std::shared_ptr<LoadNode::Request> r

for (const auto & a : request->extra_arguments) {
const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
if (extra_argument.get_name() == "use_intra_process_comms") {
if (extra_argument.get_name() == "forward_global_arguments") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'use_intra_process_comms' must be a boolean");
"Extra component argument 'forward_global_arguments' must be a boolean");
}
options.use_global_arguments(extra_argument.get_value<bool>());
if (extra_argument.get_value<bool>()) {
RCLCPP_WARN(
get_logger(), "forward_global_arguments is true by default in nodes, but is not "
"recommended in a component manager. If true, this will cause this node's behavior "
"to be influenced by global arguments, not only those targeted at this node.");
}
} else if (extra_argument.get_name() == "enable_rosout") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'enable_rosout' must be a boolean");
}
options.enable_rosout(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "use_intra_process_comms") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'use_intra_process_comms' must be a boolean");
}
options.use_intra_process_comms(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "forward_global_arguments") {
} else if (extra_argument.get_name() == "enable_topic_statistics") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'forward_global_arguments' must be a boolean");
"Extra component argument 'enable_topic_statistics' must be a boolean");
}
options.use_global_arguments(extra_argument.get_value<bool>());
if (extra_argument.get_value<bool>()) {
RCLCPP_WARN(
get_logger(), "forward_global_arguments is true by default in nodes, but is not "
"recommended in a component manager. If true, this will cause this node's behavior "
"to be influenced by global arguments, not only those targeted at this node.");
options.enable_topic_statistics(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "start_parameter_services") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'start_parameter_services' must be a boolean");
}
options.start_parameter_services(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "start_parameter_event_publisher") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'start_parameter_event_publisher' must be a boolean");
}
options.start_parameter_event_publisher(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "use_clock_thread") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'use_clock_thread' must be a boolean");
}
options.use_clock_thread(extra_argument.get_value<bool>());
} else if (extra_argument.get_name() == "enable_logger_service") {
if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
throw ComponentManagerException(
"Extra component argument 'enable_logger_service' must be a boolean");
}
options.enable_logger_service(extra_argument.get_value<bool>());
} else {
throw ComponentManagerException("Extra component argument '" + extra_argument.get_name() +
"' is not supported");
}
}

Expand Down
153 changes: 66 additions & 87 deletions rclcpp_components/test/test_component_manager_api.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,90 +181,74 @@ void test_components_api(bool use_dedicated_executor)
}

{
// use_intra_process_comms
// invalid extra argument
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_intra_process";
rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms",
rclcpp::ParameterValue(true));
request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());
request->node_name = "test_component_allow_undeclared_parameters";
rclcpp::Parameter extra_argument("allow_undeclared_parameters", rclcpp::ParameterValue(true));
request->extra_arguments.push_back(extra_argument.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, true);
EXPECT_EQ(result->error_message, "");
std::cout << result->full_node_name << std::endl;
EXPECT_EQ(result->full_node_name, "/test_component_intra_process");
EXPECT_EQ(result->unique_id, 6u);
}

{
// use_intra_process_comms is not a bool type parameter
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_intra_process_str";

rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms",
rclcpp::ParameterValue("hello"));
request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, false);
EXPECT_EQ(
result->error_message,
"Extra component argument 'use_intra_process_comms' must be a boolean");
EXPECT_EQ(result->error_message,
"Extra component argument 'allow_undeclared_parameters' is not supported");
EXPECT_EQ(result->full_node_name, "");
EXPECT_EQ(result->unique_id, 0u);
}

{
// forward_global_arguments
std::array<std::string, 8u> valid_extra_arguments = {
"forward_global_arguments",
"use_intra_process_comms",
"enable_rosout",
"enable_topic_statistics",
"start_parameter_services",
"start_parameter_event_publisher",
"use_clock_thread",
"enable_logger_service"
};

for (size_t i = 0; i < valid_extra_arguments.size(); ++i) {
const auto & arg = valid_extra_arguments[i];
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_global_arguments";
rclcpp::Parameter forward_global_arguments("forward_global_arguments",
rclcpp::ParameterValue(true));
request->extra_arguments.push_back(forward_global_arguments.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, true);
EXPECT_EQ(result->error_message, "");
EXPECT_EQ(result->full_node_name, "/test_component_global_arguments");
EXPECT_EQ(result->unique_id, 7u);
}
{
// success
request->node_name = "test_component_" + arg;
rclcpp::Parameter extra_argument(arg, rclcpp::ParameterValue(true));
request->extra_arguments.push_back(extra_argument.to_parameter_msg());

{
// forward_global_arguments is not a bool type parameter
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_global_arguments_str";
auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, true);
EXPECT_EQ(result->error_message, "");
EXPECT_EQ(result->full_node_name, "/test_component_" + arg);
EXPECT_EQ(result->unique_id, 6u + i);
}

rclcpp::Parameter forward_global_arguments("forward_global_arguments",
rclcpp::ParameterValue("hello"));
request->extra_arguments.push_back(forward_global_arguments.to_parameter_msg());
{
// not a bool type parameter
request->node_name = "test_component_" + arg + "_str";
rclcpp::Parameter extra_argument(arg, rclcpp::ParameterValue("hello"));
request->extra_arguments.clear();
request->extra_arguments.push_back(extra_argument.to_parameter_msg());

auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, false);
EXPECT_EQ(
result->error_message,
"Extra component argument 'forward_global_arguments' must be a boolean");
EXPECT_EQ(result->full_node_name, "");
EXPECT_EQ(result->unique_id, 0u);
auto future = composition_client->async_send_request(request);
auto ret = exec->spin_until_future_complete(future, 5s); // Wait for the result.
auto result = future.get();
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result->success, false);
EXPECT_EQ(result->error_message,
"Extra component argument '" + arg + "' must be a boolean");
EXPECT_EQ(result->full_node_name, "");
EXPECT_EQ(result->unique_id, 0u);
}
}

auto node_names = node->get_node_names();
Expand Down Expand Up @@ -295,22 +279,19 @@ void test_components_api(bool use_dedicated_executor)
auto result_node_names = result->full_node_names;
auto result_unique_ids = result->unique_ids;

EXPECT_EQ(result_node_names.size(), 7u);
EXPECT_EQ(result_node_names.size(), 5u + valid_extra_arguments.size());
EXPECT_EQ(result_node_names[0], "/test_component_foo");
EXPECT_EQ(result_node_names[1], "/test_component_bar");
EXPECT_EQ(result_node_names[2], "/test_component_baz");
EXPECT_EQ(result_node_names[3], "/ns/test_component_bing");
EXPECT_EQ(result_node_names[4], "/test_component_remap");
EXPECT_EQ(result_node_names[5], "/test_component_intra_process");
EXPECT_EQ(result_node_names[6], "/test_component_global_arguments");
EXPECT_EQ(result_unique_ids.size(), 7u);
EXPECT_EQ(result_unique_ids[0], 1u);
EXPECT_EQ(result_unique_ids[1], 2u);
EXPECT_EQ(result_unique_ids[2], 3u);
EXPECT_EQ(result_unique_ids[3], 4u);
EXPECT_EQ(result_unique_ids[4], 5u);
EXPECT_EQ(result_unique_ids[5], 6u);
EXPECT_EQ(result_unique_ids[6], 7u);
for (size_t i = 0u; i < valid_extra_arguments.size(); ++i) {
EXPECT_EQ(result_node_names[5u + i], "/test_component_" + valid_extra_arguments[i]);
}
EXPECT_EQ(result_unique_ids.size(), 5u + valid_extra_arguments.size());
for (size_t i = 0u; i < result_unique_ids.size(); ++i) {
EXPECT_EQ(result_unique_ids[i], 1u + i);
}
}
}

Expand Down Expand Up @@ -364,20 +345,18 @@ void test_components_api(bool use_dedicated_executor)
auto result_node_names = result->full_node_names;
auto result_unique_ids = result->unique_ids;

EXPECT_EQ(result_node_names.size(), 6u);
EXPECT_EQ(result_node_names.size(), 4u + valid_extra_arguments.size());
EXPECT_EQ(result_node_names[0], "/test_component_bar");
EXPECT_EQ(result_node_names[1], "/test_component_baz");
EXPECT_EQ(result_node_names[2], "/ns/test_component_bing");
EXPECT_EQ(result_node_names[3], "/test_component_remap");
EXPECT_EQ(result_node_names[4], "/test_component_intra_process");
EXPECT_EQ(result_node_names[5], "/test_component_global_arguments");
EXPECT_EQ(result_unique_ids.size(), 6u);
EXPECT_EQ(result_unique_ids[0], 2u);
EXPECT_EQ(result_unique_ids[1], 3u);
EXPECT_EQ(result_unique_ids[2], 4u);
EXPECT_EQ(result_unique_ids[3], 5u);
EXPECT_EQ(result_unique_ids[4], 6u);
EXPECT_EQ(result_unique_ids[5], 7u);
for (size_t i = 0u; i < valid_extra_arguments.size(); ++i) {
EXPECT_EQ(result_node_names[4u + i], "/test_component_" + valid_extra_arguments[i]);
}
EXPECT_EQ(result_unique_ids.size(), 4u + valid_extra_arguments.size());
for (size_t i = 0u; i < result_unique_ids.size(); ++i) {
EXPECT_EQ(result_unique_ids[i], 2u + i);
}
}
}
}
Expand Down