feat: add rate parameter to component interface #57
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eeberhard
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Oct 19, 2023
source/modulo_components/include/modulo_components/utilities/utilities.hpp
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source/modulo_components/modulo_components/utilities/utilities.py
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eeberhard
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Oct 19, 2023
source/modulo_components/component_descriptions/modulo_component.json
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eeberhard
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Oct 19, 2023
| @@ -8,12 +8,20 @@ | |||
| "registration": "modulo_components::Component", | |||
| "inherits": "", | |||
| "parameters": [ | |||
| { | |||
| "display_name": "Rate", | |||
| "description": "The frequency in Hertz for all periodic callbacks (this parameter overrides the period parameter)", | |||
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actually one last nitpick: since the rate parameter is now the "public" one and period is "internal", it's a bit weird to have this in the public description.
Suggested change
| "description": "The frequency in Hertz for all periodic callbacks (this parameter overrides the period parameter)", | |
| "description": "The frequency in Hertz for all periodic callbacks", |
| "parameter_name": "rate", | ||
| "parameter_type": "int", | ||
| "default_value": "10" | ||
| }, | ||
| { | ||
| "display_name": "Period", | ||
| "description": "The time interval in seconds for all periodic callbacks", |
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Instead, you can put the detailed description here for reference
Suggested change
| "description": "The time interval in seconds for all periodic callbacks", | |
| "description": "The time interval in seconds for all periodic callbacks. This parameter is deprecated and will be removed in the next major release. The rate parameter takes precedence and overrides the component period.", |
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Description
This PR solves the issue by adding the
rateparameter to the component interface while keeping backwards compatibility with theperiodparameter.In order to manage that, the parameter overrides of the node have to be modified before construction. Otherwise, the two parameters couldn't be made read only. It's a little bit hacky because we have no option to log messages or to intercept exceptions in a meaningful way at that point but I think it can work out quite well.
I was also able to confirm the desired behavior with a simple test case.
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Estimated Time of Review: 10 minutes
Checklist before merging: