Add param dump <node-name> (#285)

* wip param dump Signed-off-by: artivis <[email protected]> * default path & cleanup Signed-off-by: artivis <[email protected]> * wip test verb dump Signed-off-by: artivis <[email protected]> * rm spin_once Signed-off-by: artivis <[email protected]> * nested namespaces Signed-off-by: artivis <[email protected]> * cleaning up Signed-off-by: artivis <[email protected]> * multithread the test Signed-off-by: artivis <[email protected]> * todo use PARAMETER_SEPARATOR_STRING Signed-off-by: artivis <[email protected]> * test comp generate<->expected param file Signed-off-by: artivis <[email protected]> * lipstick Signed-off-by: artivis <[email protected]> * use proper PARAMETER_SEPARATOR_STRING Signed-off-by: artivis <[email protected]> * mv common code to api Signed-off-by: artivis <[email protected]> * rename param output-dir Signed-off-by: artivis <[email protected]> * rm line breaks Signed-off-by: artivis <[email protected]> * raise rather than print Signed-off-by: artivis <[email protected]> * rm useless import Signed-off-by: artivis <[email protected]> * raise rather than print Signed-off-by: artivis <[email protected]> * add --print option Signed-off-by: artivis <[email protected]> * prepend node namespace to output filename Signed-off-by: artivis <[email protected]> * preempted -> preempt Signed-off-by: Shane Loretz <[email protected]> * "w" -> 'w' Signed-off-by: Shane Loretz <[email protected]> * Output file using fully qualified node name Signed-off-by: Shane Loretz<[email protected]> Signed-off-by: Shane Loretz <[email protected]> * fix linter tests Signed-off-by: artivis <[email protected]> * relaxe --print preempt test Signed-off-by: artivis <[email protected]>
ros2 · Jul 26, 2019 · d804e11 · d804e11
1 parent 96c9ff2
commit d804e11
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diff --git a/ros2param/ros2param/api/__init__.py b/ros2param/ros2param/api/__init__.py
@@ -20,6 +20,34 @@
 import yaml
 
 
+def get_value(*, parameter_value):
+    """Get the value from a ParameterValue."""
+    if parameter_value.type == ParameterType.PARAMETER_BOOL:
+        value = parameter_value.bool_value
+    elif parameter_value.type == ParameterType.PARAMETER_INTEGER:
+        value = parameter_value.integer_value
+    elif parameter_value.type == ParameterType.PARAMETER_DOUBLE:
+        value = parameter_value.double_value
+    elif parameter_value.type == ParameterType.PARAMETER_STRING:
+        value = parameter_value.string_value
+    elif parameter_value.type == ParameterType.PARAMETER_BYTE_ARRAY:
+        value = parameter_value.byte_array_value
+    elif parameter_value.type == ParameterType.PARAMETER_BOOL_ARRAY:
+        value = parameter_value.bool_array_value
+    elif parameter_value.type == ParameterType.PARAMETER_INTEGER_ARRAY:
+        value = parameter_value.integer_array_value
+    elif parameter_value.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
+        value = parameter_value.double_array_value
+    elif parameter_value.type == ParameterType.PARAMETER_STRING_ARRAY:
+        value = parameter_value.string_array_value
+    elif parameter_value.type == ParameterType.PARAMETER_NOT_SET:
+        value = None
+    else:
+        value = None
+
+    return value
+
+
 def get_parameter_value(*, string_value):
     """Guess the desired type of the parameter based on the string value."""
     value = ParameterValue()

diff --git a/ros2param/ros2param/verb/dump.py b/ros2param/ros2param/verb/dump.py
@@ -0,0 +1,136 @@
+# Copyright 2019 Canonical Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from rcl_interfaces.srv import ListParameters
+
+import rclpy
+from rclpy.parameter import PARAMETER_SEPARATOR_STRING
+
+from ros2cli.node.direct import DirectNode
+from ros2cli.node.strategy import add_arguments
+from ros2cli.node.strategy import NodeStrategy
+
+from ros2node.api import get_absolute_node_name
+from ros2node.api import get_node_names
+from ros2node.api import NodeNameCompleter
+from ros2node.api import parse_node_name
+
+from ros2param.api import call_get_parameters
+from ros2param.api import get_value
+from ros2param.verb import VerbExtension
+
+import yaml
+
+
+class DumpVerb(VerbExtension):
+    """Dump the parameters of a node to a yaml file."""
+
+    def add_arguments(self, parser, cli_name):  # noqa: D102
+        add_arguments(parser)
+        arg = parser.add_argument(
+            'node_name', help='Name of the ROS node')
+        arg.completer = NodeNameCompleter(
+            include_hidden_nodes_key='include_hidden_nodes')
+        parser.add_argument(
+            '--include-hidden-nodes', action='store_true',
+            help='Consider hidden nodes as well')
+        parser.add_argument(
+            '--output-dir',
+            default='.',
+            help='The absolute path were to save the generated file')
+        parser.add_argument(
+            '--print', action='store_true',
+            help='Print generated file in terminal rather than saving a file.')
+
+    @staticmethod
+    def get_parameter_value(node, node_name, param):
+        response = call_get_parameters(
+            node=node, node_name=node_name,
+            parameter_names=[param])
+
+        # requested parameter not set
+        if not response.values:
+            return '# Parameter not set'
+
+        # extract type specific value
+        return get_value(parameter_value=response.values[0])
+
+    def insert_dict(self, dictionary, key, value):
+        split = key.split(PARAMETER_SEPARATOR_STRING, 1)
+        if len(split) > 1:
+            if not split[0] in dictionary:
+                dictionary[split[0]] = {}
+            self.insert_dict(dictionary[split[0]], split[1], value)
+        else:
+            dictionary[key] = value
+
+    def main(self, *, args):  # noqa: D102
+
+        with NodeStrategy(args) as node:
+            node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden_nodes)
+
+        absolute_node_name = get_absolute_node_name(args.node_name)
+        node_name = parse_node_name(absolute_node_name)
+        if absolute_node_name:
+            if absolute_node_name not in [n.full_name for n in node_names]:
+                return 'Node not found'
+
+        if not os.path.isdir(args.output_dir):
+            raise RuntimeError(
+                "'{args.output_dir}' is not a valid directory.".format_map(locals()))
+
+        with DirectNode(args) as node:
+            # create client
+            service_name = '{absolute_node_name}/list_parameters'.format_map(locals())
+            client = node.create_client(ListParameters, service_name)
+
+            client.wait_for_service()
+
+            if not client.service_is_ready():
+                raise RuntimeError("Could not reach service '{service_name}'".format_map(locals()))
+
+            request = ListParameters.Request()
+            future = client.call_async(request)
+
+            # wait for response
+            rclpy.spin_until_future_complete(node, future)
+
+            yaml_output = {node_name.name: {'ros__parameters': {}}}
+
+            # retrieve values
+            if future.result() is not None:
+                response = future.result()
+                for param_name in sorted(response.result.names):
+                    pval = self.get_parameter_value(node, absolute_node_name, param_name)
+                    self.insert_dict(
+                        yaml_output[node_name.name]['ros__parameters'], param_name, pval)
+            else:
+                e = future.exception()
+                raise RuntimeError('Exception while calling service of node '
+                                   "'{node_name.full_name}': {e}".format_map(locals()))
+
+            if args.print:
+                print(yaml.dump(yaml_output, default_flow_style=False))
+                return
+
+            if absolute_node_name[0] == '/':
+                file_name = absolute_node_name[1:].replace('/', '__')
+            else:
+                file_name = absolute_node_name.replace('/', '__')
+
+            print('Saving to: ', os.path.join(args.output_dir, file_name + '.yaml'))
+            with open(os.path.join(args.output_dir, file_name + '.yaml'), 'w') as yaml_file:
+                yaml.dump(yaml_output, yaml_file, default_flow_style=False)
diff --git a/ros2param/setup.py b/ros2param/setup.py
@@ -34,6 +34,7 @@
         ],
         'ros2param.verb': [
             'delete = ros2param.verb.delete:DeleteVerb',
+            'dump = ros2param.verb.dump:DumpVerb',
             'get = ros2param.verb.get:GetVerb',
             'list = ros2param.verb.list:ListVerb',
             'set = ros2param.verb.set:SetVerb',

diff --git a/ros2param/test/test_verb_dump.py b/ros2param/test/test_verb_dump.py
@@ -0,0 +1,128 @@
+# Copyright 2019 Canonical Ltd
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from io import StringIO
+import os
+import tempfile
+import threading
+import unittest
+from unittest.mock import patch
+
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.parameter import PARAMETER_SEPARATOR_STRING
+
+from ros2cli import cli
+
+TEST_NODE = 'test_node'
+TEST_NAMESPACE = 'foo'
+
+EXPECTED_PARAMETER_FILE = """\
+test_node:
+  ros__parameters:
+    bool_param: true
+    double_param: 1.23
+    foo:
+      bar:
+        str_param: foobar
+      str_param: foo
+    int_param: 42
+    str_param: Hello World
+"""
+
+
+class TestVerbDump(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        cls.context = rclpy.context.Context()
+        rclpy.init(context=cls.context)
+        cls.node = rclpy.create_node(
+            TEST_NODE, namespace=TEST_NAMESPACE, context=cls.context)
+
+        cls.executor = MultiThreadedExecutor(context=cls.context, num_threads=2)
+        cls.executor.add_node(cls.node)
+
+        cls.node.declare_parameter('bool_param', True)
+        cls.node.declare_parameter('int_param', 42)
+        cls.node.declare_parameter('double_param', 1.23)
+        cls.node.declare_parameter('str_param', 'Hello World')
+        cls.node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
+                                   'str_param', 'foo')
+        cls.node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
+                                   'bar' + PARAMETER_SEPARATOR_STRING +
+                                   'str_param', 'foobar')
+
+        # We need both the test node and 'dump'
+        # node to be able to spin
+        cls.exec_thread = threading.Thread(target=cls.executor.spin)
+        cls.exec_thread.start()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.executor.shutdown()
+        cls.node.destroy_node()
+        rclpy.shutdown(context=cls.context)
+        cls.exec_thread.join()
+
+    def _output_file(self):
+
+        ns = self.node.get_namespace()
+        name = self.node.get_name()
+        if '/' == ns:
+            fqn = ns + name
+        else:
+            fqn = ns + '/' + name
+        return fqn[1:].replace('/', '__') + '.yaml'
+
+    def test_verb_dump_invalid_node(self):
+        assert cli.main(
+                argv=['param', 'dump', 'invalid_node']) == 'Node not found'
+
+        assert cli.main(
+                argv=['param', 'dump', 'invalid_ns/test_node']) == 'Node not found'
+
+    def test_verb_dump_invalid_path(self):
+        assert cli.main(
+                argv=['param', 'dump', 'foo/test_node', '--output-dir', 'invalid_path']) \
+                    == "'invalid_path' is not a valid directory."
+
+    def test_verb_dump(self):
+        with tempfile.TemporaryDirectory() as tmpdir:
+            assert cli.main(
+                    argv=['param', 'dump', '/foo/test_node', '--output-dir', tmpdir]) is None
+
+            # Compare generated parameter file against expected
+            generated_param_file = os.path.join(tmpdir, self._output_file())
+            assert (open(generated_param_file, 'r').read() == EXPECTED_PARAMETER_FILE)
+
+    def test_verb_dump_print(self):
+        with patch('sys.stdout', new=StringIO()) as fake_stdout:
+            assert cli.main(
+                argv=['param', 'dump', 'foo/test_node', '--print']) is None
+
+            # Compare generated stdout against expected
+            assert fake_stdout.getvalue().strip() == EXPECTED_PARAMETER_FILE[:-1]
+
+        with tempfile.TemporaryDirectory() as tmpdir:
+            assert cli.main(
+                argv=['param', 'dump', 'foo/test_node', '--output-dir', tmpdir, '--print']) is None
+
+            not_generated_param_file = os.path.join(tmpdir, self._output_file())
+
+            with self.assertRaises(OSError) as context:
+                open(not_generated_param_file, 'r')
+
+            # Make sure the file was not create, thus '--print' did preempt
+            assert '[Errno 2] No such file or directory' in str(context.exception)