Skip to content

Add range constraints for applicable array parameters #2828

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 5 commits into
base: rolling
Choose a base branch
from
+476 −35
Open

Add range constraints for applicable array parameters #2828

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
00bf8fb
Added range constraints (w/ tests) for applicable array parameters (i…
agyoungs Apr 29, 2025
b46fbbe
Removed debugging printout; Uncrustified
agyoungs Apr 29, 2025
d0fa283
Fixed comment line length
agyoungs Apr 30, 2025
219dc71
Refactored to re-use common algorithms
agyoungs Apr 30, 2025
45bf07e
Removed superfluous tests
agyoungs May 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
119 changes: 84 additions & 35 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,65 @@ format_range_reason(const std::string & name, const char * range_type)
return ss.str();
}

RCLCPP_LOCAL
rcl_interfaces::msg::SetParametersResult
__check_integer_range(
const rcl_interfaces::msg::ParameterDescriptor & descriptor,
const int64_t value)
{
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
auto integer_range = descriptor.integer_range.at(0);
if (value == integer_range.from_value || value == integer_range.to_value) {
return result;
}
if ((value < integer_range.from_value) || (value > integer_range.to_value)) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "integer");
return result;
}
if (integer_range.step == 0) {
return result;
}
if (((value - integer_range.from_value) % integer_range.step) == 0) {
return result;
}
result.successful = false;
result.reason = format_range_reason(descriptor.name, "integer");
return result;
}

RCLCPP_LOCAL
rcl_interfaces::msg::SetParametersResult
__check_double_range(
const rcl_interfaces::msg::ParameterDescriptor & descriptor,
const double value)
{
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
auto fp_range = descriptor.floating_point_range.at(0);
if (__are_doubles_equal(value, fp_range.from_value) || __are_doubles_equal(value,
fp_range.to_value))
{
return result;
}
if ((value < fp_range.from_value) || (value > fp_range.to_value)) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
}
if (fp_range.step == 0.0) {
return result;
}
double rounded_div = std::round((value - fp_range.from_value) / fp_range.step);
if (__are_doubles_equal(value, fp_range.from_value + rounded_div * fp_range.step)) {
return result;
}
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
}

RCLCPP_LOCAL
rcl_interfaces::msg::SetParametersResult
__check_parameter_value_in_range(
Expand All @@ -201,49 +260,39 @@ __check_parameter_value_in_range(
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
int64_t v = value.get<int64_t>();
auto integer_range = descriptor.integer_range.at(0);
if (v == integer_range.from_value || v == integer_range.to_value) {
return result;
}
if ((v < integer_range.from_value) || (v > integer_range.to_value)) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "integer");
return result;
}
if (integer_range.step == 0) {
return result;
}
if (((v - integer_range.from_value) % integer_range.step) == 0) {
return result;
result = __check_integer_range(descriptor, value.get<int64_t>());
return result;
}

if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER_ARRAY) {
std::vector<int64_t> val_array = value.get<std::vector<int64_t>>();
for (const int64_t & val : val_array) {
result = __check_integer_range(descriptor, val);
if (!result.successful) {
return result;
}
}
result.successful = false;
result.reason = format_range_reason(descriptor.name, "integer");
return result;
}

if (!descriptor.floating_point_range.empty() && value.get_type() == rclcpp::PARAMETER_DOUBLE) {
double v = value.get<double>();
auto fp_range = descriptor.floating_point_range.at(0);
if (__are_doubles_equal(v, fp_range.from_value) || __are_doubles_equal(v, fp_range.to_value)) {
return result;
}
if ((v < fp_range.from_value) || (v > fp_range.to_value)) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
}
if (fp_range.step == 0.0) {
return result;
}
double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
if (__are_doubles_equal(v, fp_range.from_value + rounded_div * fp_range.step)) {
return result;
result = __check_double_range(descriptor, value.get<double>());
return result;
}

if (!descriptor.floating_point_range.empty() &&
value.get_type() == rclcpp::PARAMETER_DOUBLE_ARRAY)
{
std::vector<double> val_array = value.get<std::vector<double>>();
for (const double & val : val_array) {
result = __check_double_range(descriptor, val);
if (!result.successful) {
return result;
}
}
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
}

return result;
}

Expand Down
Loading