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Fix static typing when allow undeclared #702

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Merged
ivanpauno merged 2 commits into from
Mar 9, 2021
Merged

Fix static typing when allow undeclared #702

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2bdbf16
Fix static typing when allow undeclared
ivanpauno Mar 8, 2021
3f4118b
Add test cases
ivanpauno Mar 9, 2021
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6 changes: 4 additions & 2 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -801,7 +801,9 @@ def _set_parameters_atomically(
if descriptors is not None:
self._descriptors[param.name] = descriptors[param.name]
elif param.name not in self._descriptors:
self._descriptors[param.name] = ParameterDescriptor()
descriptor = ParameterDescriptor()
descriptor.dynamic_typing = True
self._descriptors[param.name] = descriptor

if Parameter.Type.NOT_SET == self.get_parameter_or(param.name).type_:
# Parameter is new. (Parameter had no value and new value is set)
Expand Down Expand Up @@ -901,7 +903,7 @@ def _apply_descriptor(
successful=False,
reason='Trying to set a read-only parameter: {}.'.format(parameter.name))

if descriptor.dynamic_typing or self._allow_undeclared_parameters:
if descriptor.dynamic_typing:
descriptor.type = parameter.type_.value
elif descriptor.type != parameter.type_.value:
return SetParametersResult(
Expand Down
20 changes: 20 additions & 0 deletions rclpy/test/test_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -443,6 +443,26 @@ def test_node_get_parameter_returns_parameter_not_set(self):
self.assertIsInstance(self.node.get_parameter('unset'), Parameter)
self.assertEqual(self.node.get_parameter('unset').type_, Parameter.Type.NOT_SET)

def test_node_declare_static_parameter(self):
value = self.node.declare_parameter('an_integer', 5)
self.assertEqual(value.value, 5)
self.assertFalse(
self.node.set_parameters([Parameter('an_integer', value='asd')])[0].successful)
self.assertEqual(self.node.get_parameter('an_integer').value, 5)

def test_node_undeclared_parameters_are_dynamically_typed(self):
self.assertTrue(self.node.set_parameters([Parameter('my_param', value=5)])[0].successful)
self.assertEqual(self.node.get_parameter('my_param').value, 5)
self.assertTrue(
self.node.set_parameters([Parameter('my_param', value='asd')])[0].successful)
self.assertEqual(self.node.get_parameter('my_param').value, 'asd')

def test_node_cannot_declare_after_set(self):
self.assertTrue(self.node.set_parameters([Parameter('my_param', value=5)])[0].successful)
self.assertEqual(self.node.get_parameter('my_param').value, 5)
with pytest.raises(rclpy.exceptions.ParameterAlreadyDeclaredException):
self.node.declare_parameter('my_param', 5)

def test_node_has_parameter_services(self):
service_names_and_types = self.node.get_service_names_and_types()
self.assertIn(
Expand Down