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christophfroehlichchristophfroehlich
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Fix conflicting validators (PickNikRobotics#336)
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Lines changed: 251 additions & 76 deletions

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‎README.md‎

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@@ -264,6 +264,8 @@ The built-in validator functions provided by this package are:
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| gt_eq<> | [value] | parameter >= value |
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| one_of<> | [[val1, val2, ...]] | Value is one of the specified values |
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Note: `lt<>`, `gt<>`, `lt_eq<>`, or `gt_eq<>` cannot be used together with `bounds<>`.
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**String validators**
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| Function | Arguments | Description |
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| ------------ | ------------------- | ---------------------------------------------- |
@@ -286,6 +288,8 @@ The built-in validator functions provided by this package are:
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| lower_element_bounds<> | [lower] | Lower bound for each element (inclusive) |
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| upper_element_bounds<> | [upper] | Upper bound for each element (inclusive) |
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Note: `element_bounds<>` cannot be mixed with `lower_element_bounds<>` or `upper_element_bounds<>`.
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### Custom validator functions
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Validators are functions that return a `tl::expected<void, std::string>` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.
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Validators are C++ functions defined in a header file similar to the example shown below.

‎example/src/parameters.yaml‎

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@@ -29,6 +29,15 @@ admittance_controller:
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validation:
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gt<>: [0.0]
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limit:
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type: double_array
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description: "specifies limit for x, y and z axis"
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default_value: [0.0, 0.0, 0.0]
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validation:
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fixed_size<>: 3
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lower_element_bounds<>: -10.0
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upper_element_bounds<>: 10.0
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nested_dynamic:
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__map_joints:
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__map_dof_names:
@@ -223,6 +232,15 @@ admittance_controller:
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validation:
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element_bounds: [ 0.0001, 100000.0 ]
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acceleration_limits:
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type: double_array
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description: "specifies maximum acceleration limits for x, y and z axis"
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default_value: [0.0, 0.0, 0.0]
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validation:
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fixed_size<>: 3
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lower_element_bounds<>: -10.0
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upper_element_bounds<>: 10.0
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# general settings
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enable_parameter_update_without_reactivation:
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type: bool
@@ -244,6 +262,20 @@ admittance_controller:
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description: "should be a number greater than 15"
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validation:
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gt<>: [ 15 ]
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gt_fifteen_lt_eq_twenty:
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type: int
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default_value: 20
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description: "should be a number greater than 15 and less than or equal to 20"
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validation:
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gt<>: [ 15 ]
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lt_eq<>: [ 20 ]
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gt_fifteen_lt_twenty:
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type: int
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default_value: 16
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description: "should be a number greater than 15 and less than 20"
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validation:
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gt<>: [ 15 ]
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lt<>: [ 20 ]
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one_number:
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type: int
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default_value: 14540

‎example_python/generate_parameter_module_example/parameters.yaml‎

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@@ -35,6 +35,15 @@ admittance_controller:
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validation:
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gt<>: [0.0]
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limit:
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type: double_array
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description: "specifies limit for x, y and z axis"
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default_value: [0.0, 0.0, 0.0]
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validation:
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fixed_size<>: 3
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lower_element_bounds<>: -10.0
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upper_element_bounds<>: 10.0
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nested_dynamic:
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__map_joints:
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__map_dof_names:
@@ -226,6 +235,15 @@ admittance_controller:
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validation:
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element_bounds: [ 0.0001, 100000.0 ]
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acceleration_limits:
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type: double_array
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description: "specifies maximum acceleration limits for x, y and z axis"
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default_value: [0.0, 0.0, 0.0]
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validation:
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fixed_size<>: 3
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lower_element_bounds<>: -10.0
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upper_element_bounds<>: 10.0
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# general settings
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enable_parameter_update_without_reactivation:
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type: bool
@@ -247,6 +265,20 @@ admittance_controller:
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description: "should be a number greater than 15"
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validation:
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gt<>: [ 15 ]
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gt_fifteen_lt_eq_twenty:
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type: int
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default_value: 20
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description: "should be a number greater than 15 and less than or equal to 20"
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validation:
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gt<>: [ 15 ]
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lt_eq<>: [ 20 ]
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gt_fifteen_lt_twenty:
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type: int
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default_value: 16
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description: "should be a number greater than 15 and less than 20"
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validation:
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gt<>: [ 15 ]
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lt<>: [ 20 ]
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one_number:
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type: int
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default_value: 14540

‎generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter‎

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@@ -6,37 +6,41 @@ descriptor.read_only = {{parameter_read_only}};
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{%- if parameter_additional_constraints|length %}
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descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
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{% endif -%}
9-
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
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{%- if "DOUBLE" in parameter_type %}
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{%- set range = namespace(lower=None, upper=None) %}
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{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
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{%- if validation.arguments|length == 2 %}
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descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
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{%- set range.lower = validation.arguments[0] %}
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{%- set range.upper = validation.arguments[1] %}
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{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
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descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
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{%- set range.lower = validation.arguments[0] %}
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{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
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descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
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descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
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{%- set range.upper = validation.arguments[0] %}
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{%- endif %}
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{%- endfor %}
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{%- if range.lower is not none or range.upper is not none %}
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descriptor.floating_point_range.resize(1);
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descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
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descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
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{%- endif %}
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{%- elif "INTEGER" in parameter_type %}
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{%- set range = namespace(lower=None, upper=None) %}
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{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
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{%- if validation.arguments|length == 2 %}
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descriptor.integer_range.resize({{loop.index}});
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descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
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{%- set range.lower = validation.arguments[0] %}
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{%- set range.upper = validation.arguments[1] %}
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{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
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descriptor.integer_range.resize({{loop.index}});
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descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
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{%- set range.lower = validation.arguments[0] %}
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{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
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descriptor.integer_range.resize({{loop.index}});
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descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
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descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
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{%- endif %}
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{%- set range.upper = validation.arguments[0] %}
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{%- endif %}
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{%- endfor %}
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{%- if range.lower is not none or range.upper is not none %}
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descriptor.integer_range.resize(1);
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descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
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descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
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{%- endif %}
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{%- endif %}
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{%- if not parameter_value|length %}
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auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
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{% endif -%}

‎generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter‎

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@@ -22,37 +22,41 @@ descriptor.read_only = {{parameter_read_only}};
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{%- if parameter_additional_constraints|length %}
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descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
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{% endif -%}
25-
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
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{%- if "DOUBLE" in parameter_type %}
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{%- set range = namespace(lower=None, upper=None) %}
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{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
2728
{%- if validation.arguments|length == 2 %}
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descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
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{%- set range.lower = validation.arguments[0] %}
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{%- set range.upper = validation.arguments[1] %}
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{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
32-
descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
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descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
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{%- set range.lower = validation.arguments[0] %}
3533
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
36-
descriptor.floating_point_range.resize({{loop.index}});
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descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
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descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
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{%- set range.upper = validation.arguments[0] %}
35+
{%- endif %}
36+
{%- endfor %}
37+
{%- if range.lower is not none or range.upper is not none %}
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descriptor.floating_point_range.resize(1);
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descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
40+
descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
3941
{%- endif %}
4042
{%- elif "INTEGER" in parameter_type %}
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{%- set range = namespace(lower=None, upper=None) %}
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{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
4145
{%- if validation.arguments|length == 2 %}
42-
descriptor.integer_range.resize({{loop.index}});
43-
descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
44-
descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
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{%- set range.lower = validation.arguments[0] %}
47+
{%- set range.upper = validation.arguments[1] %}
4548
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
46-
descriptor.integer_range.resize({{loop.index}});
47-
descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
48-
descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
49+
{%- set range.lower = validation.arguments[0] %}
4950
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
50-
descriptor.integer_range.resize({{loop.index}});
51-
descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
52-
descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
53-
{%- endif %}
51+
{%- set range.upper = validation.arguments[0] %}
5452
{%- endif %}
5553
{%- endfor %}
54+
{%- if range.lower is not none or range.upper is not none %}
55+
descriptor.integer_range.resize(1);
56+
descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
57+
descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
58+
{%- endif %}
59+
{%- endif %}
5660
{%- if not default_value|length %}
5761
auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
5862
{% endif -%}

‎generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter‎

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Original file line numberDiff line numberDiff line change
@@ -4,37 +4,41 @@ descriptor = ParameterDescriptor(description=r"{{parameter_description|valid_str
44
{%- if parameter_additional_constraints|length %}
55
descriptor.additional_constraints = "{{parameter_additional_constraints|valid_string_python}}"
66
{% endif -%}
7-
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
87
{%- if "DOUBLE" in parameter_type %}
8+
{%- set range = namespace(lower=None, upper=None) %}
9+
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
910
{%- if validation.arguments|length == 2 %}
10-
descriptor.floating_point_range.append(FloatingPointRange())
11-
descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
12-
descriptor.floating_point_range[-1].to_value = {{validation.arguments[1]}}
11+
{%- set range.lower = validation.arguments[0] %}
12+
{%- set range.upper = validation.arguments[1] %}
1313
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
14-
descriptor.floating_point_range.append(FloatingPointRange())
15-
descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
16-
descriptor.floating_point_range[-1].to_value = float('inf')
14+
{%- set range.lower = validation.arguments[0] %}
1715
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
16+
{%- set range.upper = validation.arguments[0] %}
17+
{%- endif %}
18+
{%- endfor %}
19+
{%- if range.lower is not none or range.upper is not none %}
1820
descriptor.floating_point_range.append(FloatingPointRange())
19-
descriptor.floating_point_range[-1].from_value = -float('inf')
20-
descriptor.floating_point_range[-1].to_value = {{validation.arguments[0]}}
21+
descriptor.floating_point_range[-1].from_value = {{range.lower if range.lower is not none else "-float('inf')"}}
22+
descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is not none else "float('inf')"}}
2123
{%- endif %}
2224
{%- elif "INTEGER" in parameter_type %}
25+
{%- set range = namespace(lower=None, upper=None) %}
26+
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
2327
{%- if validation.arguments|length == 2 %}
24-
descriptor.integer_range.append(IntegerRange())
25-
descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
26-
descriptor.integer_range[-1].to_value = {{validation.arguments[1]}}
28+
{%- set range.lower = validation.arguments[0] %}
29+
{%- set range.upper = validation.arguments[1] %}
2730
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
28-
descriptor.integer_range.append(IntegerRange())
29-
descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
30-
descriptor.integer_range[-1].to_value = 2**31-1
31+
{%- set range.lower = validation.arguments[0] %}
3132
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
33+
{%- set range.upper = validation.arguments[0] %}
34+
{%- endif %}
35+
{%- endfor %}
36+
{%- if range.lower is not none or range.upper is not none %}
3237
descriptor.integer_range.append(IntegerRange())
33-
descriptor.integer_range[-1].from_value = -2**31-1
34-
descriptor.integer_range[-1].to_value = {{validation.arguments[0]}}
38+
descriptor.integer_range[-1].from_value = {{range.lower if range.lower is not none else "-2**31-1"}}
39+
descriptor.integer_range[-1].to_value = {{range.upper if range.upper is not none else "2**31-1"}}
3540
{%- endif %}
3641
{%- endif %}
37-
{%- endfor %}
3842
{%- if not parameter_value|length %}
3943
parameter = rclpy.Parameter.Type.{{parameter_type}}
4044
{% endif -%}

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