Fix nested maps with no struct name

PickNikRobotics · Mar 20, 2024 · 61692da · 61692da
1 parent 4c5f526
commit 61692da
Show file tree

Hide file tree

Showing 8 changed files with 29 additions and 21 deletions.
diff --git a/example/config/implementation.yaml b/example/config/implementation.yaml
@@ -12,7 +12,8 @@ admittance_controller:
       "happy"
 
     elbow_joint:
-      weight: 2.0
+      x:
+        weight: 2.0
 
     pid:
       shoulder_pan_joint:

diff --git a/example/src/parameters.yaml b/example/src/parameters.yaml
@@ -25,14 +25,15 @@ admittance_controller:
   }
 
   __map_joints:
-    weight: {
-      type: double,
-      default_value: 1.0,
-      description: "map parameter without struct name",
-      validation: {
-        gt<>: [0.0],
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
       }
-    }
 
   nested_dynamic:
     __map_joints:

diff --git a/example_python/config/implementation.yaml b/example_python/config/implementation.yaml
@@ -12,7 +12,8 @@ admittance_controller:
       "happy"
 
     elbow_joint:
-      weight: 2.0
+      x:
+        weight: 2.0
 
     pid:
       shoulder_pan_joint:

diff --git a/example_python/generate_parameter_module_example/parameters.yaml b/example_python/generate_parameter_module_example/parameters.yaml
@@ -33,14 +33,15 @@ admittance_controller:
   }
 
   __map_joints:
-    weight: {
-      type: double,
-      default_value: 1.0,
-      description: "map parameter without struct name",
-      validation: {
-        gt<>: [0.0],
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
       }
-    }
 
   nested_dynamic:
     __map_joints:

diff --git a/...er_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter b/...er_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
@@ -5,7 +5,7 @@ for (const auto & value_{{loop.index}} : updated_params.{{mapped_param}}) {
 {% if struct_name != "" %}
 auto& entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
 {% else %}
-auto& entry = {{param_struct_instance}}.{% for map in parameter_map%}{{map}}[value_{{loop.index}}]{% endfor %};
+auto& entry = {{param_struct_instance}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
 {% endif -%}
 std::string value = fmt::format("{%- for mapped_param in mapped_params -%}{% if loop.index == 1 %}{}{% else %}.{}{% endif -%} {%- endfor -%}",
 {%- for mapped_param in mapped_params -%}{% if loop.index == 1 %} value_{{loop.index}}{% else %}, value_{{loop.index}}{% endif -%} {%- endfor %});

diff --git a/...ter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter b/...ter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter
@@ -17,7 +17,7 @@ if (param.get_name() == param_name) {
 {% if struct_name != "" %}
 updated_params.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
 {% else %}
-updated_params.{% for map in parameter_map%}{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
+updated_params{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
 {% endif -%}
 RCLCPP_DEBUG_STREAM(logger_, param.get_name() << ": " << param.get_type_name() << " = " << param.value_to_string());
 {% endfilter -%}

diff --git a/...library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter b/...library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
@@ -7,11 +7,11 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {% if struct_name != "" %}
 {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
 entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+param_name = f"{self.prefix_}{{struct_name}}.{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
 {% else %}
 {{param_struct_instance}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
 entry = {{param_struct_instance}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
-param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
 {% endif -%}
 if not self.node_.has_parameter(self.prefix_ + param_name):
 {%- filter indent(width=4) %}

diff --git a/..._library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter b/..._library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter
@@ -4,7 +4,11 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {%- endfilter -%}
 {% endfor -%}
 {%- filter indent(width=4*(1+mapped_params|length)) %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+{% if struct_name != "" %}
+param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% else %}
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% endif -%}
 if param.name == param_name:
 {%- filter indent(width=4) %}
 {% if parameter_validations|length -%}