Merge pull request #52 from ipa320/rwu/feature/write_param_value_in_s…

…ystem Write param value in system model [Merge 1st]
ipa320 · Feb 28, 2024 · 01248ab · 01248ab
2 parents ead6565 + d372102
commit 01248ab
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Showing 11 changed files with 109 additions and 30 deletions.
diff --git a/README.md b/README.md
@@ -25,9 +25,10 @@ For the static code analysis we made available a web interface able to inspect c
    ```
    source /opt/ros/humble/setup.bash
    ```
-3. Back to the folder "ws", create venv
+3. Back to the folder "ws", create and active venv
    ```
    python3 -m venv venv --system-site-packages --symlinks
+   source venv/bin/activate
    ```
 4. Install poetry and install dependencies
    run
@@ -37,7 +38,7 @@ For the static code analysis we made available a web interface able to inspect c
    ```
 5. compile it as ROS package
    ```
-   colcon build --packages-select ros2model --symlink-install
+   python -m colcon build --packages-select ros2model --symlink-install
    ```
 
 ## Run

diff --git a/ros2model/api/runtime_parser/rosmodel_runtime_parser.py b/ros2model/api/runtime_parser/rosmodel_runtime_parser.py
@@ -10,11 +10,13 @@
 from rclpy.topic_endpoint_info import TopicEndpointInfo
 import rclpy
 from rcl_interfaces.msg import ParameterType
+import ros2model.core.utils as utils
 
 from collections import namedtuple
 from ros2param.api import (
     call_list_parameters,
     call_describe_parameters,
+    call_get_parameters,
 )
 
 Topic_BlackList = ["/parameter_events", "/rosout"]
@@ -38,11 +40,11 @@ def get_parameter_type_string(parameter_type):
         ParameterType.PARAMETER_INTEGER: "Integer",
         ParameterType.PARAMETER_DOUBLE: "Double",
         ParameterType.PARAMETER_STRING: "String",
-        ParameterType.PARAMETER_BYTE_ARRAY: "Array: Byte",
-        ParameterType.PARAMETER_BOOL_ARRAY: "Array: Boolean",
-        ParameterType.PARAMETER_INTEGER_ARRAY: "Array: Integer",
-        ParameterType.PARAMETER_DOUBLE_ARRAY: "Array: Double",
-        ParameterType.PARAMETER_STRING_ARRAY: "Array: String",
+        ParameterType.PARAMETER_BYTE_ARRAY: "Array[Byte]",
+        ParameterType.PARAMETER_BOOL_ARRAY: "Array[Boolean]",
+        ParameterType.PARAMETER_INTEGER_ARRAY: "Array[Integer]",
+        ParameterType.PARAMETER_DOUBLE_ARRAY: "Array[Double]",
+        ParameterType.PARAMETER_STRING_ARRAY: "Array[String]",
         ParameterType.PARAMETER_NOT_SET: "Any",
     }
     return mapping[parameter_type]
@@ -275,12 +277,18 @@ def get_parameters(self, node, include_hidden_nodes=False):
                 node_name=self.name.full_name,
                 parameter_names=sorted_names,
             )
-            for descriptor in des_resp.descriptors:
+
+            get_parameters_response = call_get_parameters(
+                node=node, node_name=self.name.full_name, parameter_names=sorted_names
+            )
+
+            for param_name, pvalue in zip(sorted_names, get_parameters_response.values):
                 self.parameter.append(
                     ROSModel.Parameter(
-                        name=descriptor.name,
+                        name=param_name,
                         namespace=self.name.namespace,
-                        type=get_parameter_type_string(descriptor.type),
+                        type=get_parameter_type_string(pvalue.type),
+                        value=str(utils.get_param_value(pvalue)),
                     )
                 )
 

diff --git a/ros2model/core/utils.py b/ros2model/core/utils.py
@@ -0,0 +1,52 @@
+import psutil
+from rclpy.parameter import Parameter
+from rcl_interfaces.msg import ParameterType
+
+
+def find_process_by_node_name(node_name, namespace):
+    for process in psutil.process_iter(["pid", "cmdline"]):
+        try:
+            cmdline = process.info["cmdline"]
+            if namespace in str(cmdline) and node_name in str(cmdline):
+                cmdline_list = cmdline[0].split("/")
+                if len(cmdline_list) >= 3:
+                    return cmdline_list[-2], cmdline_list[-1]
+        except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+            pass
+    return "TODO", "TODO"
+
+
+def get_param_value(pvalue: Parameter):
+    if pvalue.type == ParameterType.PARAMETER_BOOL:
+        label = "Boolean value is:"
+        value = pvalue.bool_value
+    elif pvalue.type == ParameterType.PARAMETER_INTEGER:
+        label = "Integer value is:"
+        value = pvalue.integer_value
+    elif pvalue.type == ParameterType.PARAMETER_DOUBLE:
+        label = "Double value is:"
+        value = pvalue.double_value
+    elif pvalue.type == ParameterType.PARAMETER_STRING:
+        label = "String value is:"
+        value = pvalue.string_value
+    elif pvalue.type == ParameterType.PARAMETER_BYTE_ARRAY:
+        label = "Byte values are:"
+        value = pvalue.byte_array_value
+    elif pvalue.type == ParameterType.PARAMETER_BOOL_ARRAY:
+        label = "Boolean values are:"
+        value = pvalue.bool_array_value
+    elif pvalue.type == ParameterType.PARAMETER_INTEGER_ARRAY:
+        label = "Integer values are:"
+        value = pvalue.integer_array_value.tolist()
+    elif pvalue.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
+        label = "Double values are:"
+        value = pvalue.double_array_value.tolist()
+    elif pvalue.type == ParameterType.PARAMETER_STRING_ARRAY:
+        label = "String values are:"
+        value = pvalue.string_array_value
+    elif pvalue.type == ParameterType.PARAMETER_NOT_SET:
+        label = "Parameter not set."
+        value = None
+    else:
+        return f"Unknown parameter type '{pvalue.type}'"
+    return value
diff --git a/ros2model/verb/runtime_node.py b/ros2model/verb/runtime_node.py
@@ -1,15 +1,14 @@
 from pathlib import Path
 
+from ros2model.core.utils import find_process_by_node_name
+
 from ros2cli.node.strategy import add_arguments
 
 from ros2model.verb import VerbExtension
 from ros2model.api.model_generator.component_generator import ComponentGenerator
 import ros2model.api.runtime_parser.rosmodel_runtime_parser as RuntimeParser
 import ros2model.core.metamodels.metamodel_ros as ROSModel
 
-import psutil
-import sys
-
 
 class RuntimeNodeVerb(VerbExtension):
     """Create .ros2 for each node in a runtime system"""
@@ -47,17 +46,6 @@ def name_component_file(self, grapg_name: ROSModel.GraphName):
             file_name = f"{grapg_name.namespace[1:]}__{n}"
             return file_name
 
-    def find_process_by_node_name(self, node_name, namespace):
-        for process in psutil.process_iter(["pid", "cmdline"]):
-            try:
-                cmdline = process.info["cmdline"]
-                if namespace in str(cmdline) and node_name in str(cmdline):
-                    cmdline_list = cmdline[0].split("/")
-                    return cmdline_list[-2], cmdline_list[-1]
-            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
-                pass
-        return "TODO", "TODO"
-
     def main(self, *, args):
         output_dir = Path(args.output_folder)
         if output_dir.is_absolute() != True:
@@ -74,9 +62,7 @@ def main(self, *, args):
                 args.include_hidden_nodes,
                 args.include_hidden_interfaces,
             )
-            package_name, artifact_name = self.find_process_by_node_name(
-                n.name, n.namespace
-            )
+            package_name, artifact_name = find_process_by_node_name(n.name, n.namespace)
             runtime_pkg = ROSModel.Package(
                 name=package_name,
                 artifact=[ROSModel.Artifact(name=artifact_name, node=[node_instance])],

diff --git a/templates/component.ros2.j2 b/templates/component.ros2.j2
@@ -59,6 +59,15 @@
         {% for parameter in node.parameter %}
         '{{ parameter.name }}':
           type: {{ parameter.type }}
+          {% if parameter.value != none %}
+          {% if parameter.type == "String" %}
+          value: "{{ parameter.value }}"
+          {% elif parameter.type == "Boolean" %}
+          value: {{ parameter.value | lower }}
+          {% else %}
+          value: {{ parameter.value }}
+          {% endif %}
+          {% endif %}
         {% endfor %}
       {% endif %}
       {% endfor %}

diff --git a/templates/rossystem.rossystem.j2 b/templates/rossystem.rossystem.j2
@@ -3,6 +3,7 @@
   {% for node in model.nodes %}
     "{{ node.name.full_name }}":
       from: "TODO.{{ node.name.full_name }}"
+      {% if node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0%}
       interfaces:
       {% for interface in node.publisher %}
       	- "{{ interface.name }}": pub-> "TODO::{{ interface.name }}"
@@ -22,4 +23,18 @@
       {% for interface in node.serviceclient %}
       	- "{{ interface.name }}": sc-> "TODO::{{ interface.name }}"
       {% endfor %}
+      {% endif %}
+      {% if node.parameter | length > 0 %}
+      parameters:
+        {% for parameter in node.parameter %}
+        - {{ parameter.name }}: "{{ node.name.full_name }}.{{ parameter.name }}"
+          {% if parameter.type == "String" %}
+          value: "{{ parameter.value }}"
+          {% elif parameter.type == "Boolean" %}
+          value: {{ parameter.value | lower }}
+          {% else %}
+          value: {{ parameter.value }}
+          {% endif %}
+        {% endfor %}
+      {% endif %}
   {% endfor %}
diff --git a/test/outputs/test_model.ros2 b/test/outputs/test_model.ros2
@@ -22,3 +22,4 @@ test_model:
       parameters:
         'shadows/min_angle':
           type: Double
+          value: -1.52
diff --git a/test/outputs/test_system.rossystem b/test/outputs/test_system.rossystem
@@ -9,3 +9,6 @@ test_system:
       	- "static_map": ac-> "TODO::static_map"
       	- "static_map": ss-> "TODO::static_map"
       	- "static_map": sc-> "TODO::static_map"
+      parameters:
+        - shadows/min_angle: "/map_server.shadows/min_angle"
+          value: -1.52
diff --git a/test/unittest/test_generate_component.py b/test/unittest/test_generate_component.py
@@ -48,7 +48,7 @@
 # pprint(test_model)
 
 test_dir = "test"
-output_folder = "outputs"
+output_folder = Path(__file__).parent.parent / "outputs"
 
 expect_result = """
 test_model:
@@ -75,6 +75,7 @@
       parameters:
         'shadows/min_angle':
           type: Double
+          value: -1.52
 
 """
 

diff --git a/test/unittest/test_generate_interface.py b/test/unittest/test_generate_interface.py
@@ -46,7 +46,7 @@
 )
 
 test_dir = "test"
-output_folder = "outputs"
+output_folder = Path(__file__).parent.parent / "outputs"
 
 expect_result = """
 test_interfaces:

diff --git a/test/unittest/test_generate_system.py b/test/unittest/test_generate_system.py
@@ -37,7 +37,7 @@
 pprint(test_model)
 
 test_dir = "test"
-output_folder = "outputs"
+output_folder = Path(__file__).parent.parent / "outputs"
 
 expect_result = """
 test_system:
@@ -51,6 +51,9 @@
       	- "static_map": ac-> "TODO::static_map"
       	- "static_map": ss-> "TODO::static_map"
       	- "static_map": sc-> "TODO::static_map"
+      parameters:
+        - shadows/min_angle: "/map_server.shadows/min_angle"
+          value: -1.52
 
 """