Read only parameters (ros2#495)

* in progress broken test_time_source

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* style

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* test undeclared params

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Only get parameter if it is set

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* doc fixup

Signed-off-by: William Woodall <william@osrfoundation.org>

* use override rather than virtual in places

Signed-off-by: William Woodall <william@osrfoundation.org>

* rename ParameterInfo_t to ParameterInfo and just use struct, no typedef

Signed-off-by: William Woodall <william@osrfoundation.org>

* add method to access ParameterValue within a Parameter

Signed-off-by: William Woodall <william@osrfoundation.org>

* enable get<Parameter> and get<ParameterValue> on Parameter class

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid const pass by value

Signed-off-by: William Woodall <william@osrfoundation.org>

* match type of enum in C++ to type used in message definition

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixup after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* replace create_parameter with declare_parameter

Signed-off-by: William Woodall <william@osrfoundation.org>

* provide implementation for templated declare_parameter method

Signed-off-by: William Woodall <william@osrfoundation.org>

* style

Signed-off-by: William Woodall <william@osrfoundation.org>

* do not use const reference when it's a primitive (like bool)

Signed-off-by: William Woodall <william@osrfoundation.org>

* typo

Signed-off-by: William Woodall <william@osrfoundation.org>

* follow to bool change that wasn't staged

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* added lots of docs, alternative API signatures, and some of the tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* more tests and associated fixes

Signed-off-by: William Woodall <william@osrfoundation.org>

* address documentation feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup previously added tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* add tests and fixes for describe_parameter(s) and get_parameter_types

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove old parameter tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* use const reference where possible

Signed-off-by: William Woodall <william@osrfoundation.org>

* address comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix tests for deprecated methods

Signed-off-by: William Woodall <william@osrfoundation.org>

* address feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* significantly improve the reliability of the time_source tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify, cpplint, and cppcheck fixes

Signed-off-by: William Woodall <william@osrfoundation.org>

* Revert "significantly improve the reliability of the time_source tests"

This reverts commit 3ef385d.

Signed-off-by: William Woodall <william@osrfoundation.org>

* only declare use_sim_time parameter if not already declared

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup rclcpp_lifecycle

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* add missing namespace scope which fails on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* extend deprecation warning suppression to support Windows too

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler warnings and missing visibility macro

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove commented left over tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler warning on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress deprecation warning on include of file in Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid potential loss of data warning converting int64_t to int

Signed-off-by: William Woodall <william@osrfoundation.org>

* trying to fix more loss of data warnings

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix test_node

Signed-off-by: William Woodall <william@osrfoundation.org>

* add option to automatically declare parameters from initial parameters (yaml file)

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove redundant conditional

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/CMakeLists.txt

@@ -210,10 +210,6 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_node_initial_parameters test/test_node_initial_parameters.cpp)
-  if(TARGET test_node_initial_parameters)
-    target_link_libraries(test_node_initial_parameters ${PROJECT_NAME})
-  endif()
   ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
   if(TARGET test_parameter_events_filter)
     ament_target_dependencies(test_parameter_events_filter

rclcpp/include/rclcpp/exceptions.hpp

@@ -185,14 +185,35 @@ class EventNotRegisteredError : public std::runtime_error
 class InvalidParametersException : public std::runtime_error
 {
 public:
-  // Inherit constructors from runtime_error;
+  // Inherit constructors from runtime_error.
   using std::runtime_error::runtime_error;
 };
 
-/// Throwing if passed parameter value is invalid.
+/// Thrown if passed parameter value is invalid.
 class InvalidParameterValueException : public std::runtime_error
 {
-  // Inherit constructors from runtime_error;
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is already declared.
+class ParameterAlreadyDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
+class ParameterNotDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is immutable and therefore cannot be undeclared.
+class ParameterImmutableException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
   using std::runtime_error::runtime_error;
 };