fix: revert ABI breaking addition of assignments in C++

CHANGELOG.md

@@ -28,6 +28,7 @@ Release Versions:
 ## Upcoming changes
 
 - fix(controllers): safety check for predicate publisher access (#238)
+- fix: remove ABI breaking assignment methods from C++ components and controllers (#240)
 
 ## 5.4.0
 

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -17,7 +17,6 @@
 #include <modulo_core/exceptions.hpp>
 #include <modulo_core/translators/parameter_translators.hpp>
 
-#include <modulo_interfaces/msg/assignment.hpp>
 #include <modulo_interfaces/msg/predicate_collection.hpp>
 #include <modulo_interfaces/srv/empty_trigger.hpp>
 #include <modulo_interfaces/srv/string_trigger.hpp>
@@ -163,34 +162,6 @@ class ComponentInterface {
   virtual bool
   on_validate_parameter_callback(const std::shared_ptr<state_representation::ParameterInterface>& parameter);
 
-  /**
-   * @brief Add an assignment to the map of assignments.
-   * @tparam T The type of the assignment
-   * @param assignment_name the name of the associated assignment
-   */
-  template<typename T>
-  void add_assignment(const std::string& assignment_name);
-
-  /**
-   * @brief Set the value of an assignment.
-   * @tparam T The type of the assignment   
-   * @param assignment_name The name of the assignment to set
-   * @param assignment_value The value of the assignment
-   */
-  template<typename T>
-  void set_assignment(const std::string& assignment_name, const T& assignment_value);
-
-  /**
-   * @brief Get the value of an assignment.
-   * @tparam T The type of the assignment   
-   * @param assignment_name The name of the assignment to get
-   * @throws modulo_core::exceptions::InvalidAssignmentException if the assignment does not exist or the type does not 
-     match
-     @throws state_representation::exceptions::EmptyStateException if the assignment has not been set yet 
-   */
-  template<typename T>
-  T get_assignment(const std::string& assignment_name) const;
-
   /**
    * @brief Add a predicate to the map of predicates.
    * @param predicate_name the name of the associated predicate
@@ -583,9 +554,6 @@ class ComponentInterface {
   modulo_interfaces::msg::PredicateCollection predicate_message_;
   std::vector<std::string> triggers_;///< List of triggers
 
-  state_representation::ParameterMap assignments_map_;                                         ///< Map of assignments
-  std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::Assignment>> assignment_publisher_;///< Assignment publisher
-
   std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::EmptyTrigger>>>
       empty_services_;///< Map of EmptyTrigger services
   std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::StringTrigger>>>
@@ -852,79 +820,4 @@ inline void ComponentInterface::publish_transforms(
         "Failed to send " << modifier << "transform: " << ex.what());
   }
 }
-
-template<typename T>
-inline void ComponentInterface::add_assignment(const std::string& assignment_name) {
-  std::string parsed_name = modulo_utils::parsing::parse_topic_name(assignment_name);
-  if (parsed_name.empty()) {
-    RCLCPP_ERROR_STREAM(
-        this->node_logging_->get_logger(),
-        "The parsed name for assignment '" + assignment_name
-            + "' is empty. Provide a string with valid characters for the assignment name ([a-z0-9_]).");
-    return;
-  }
-  if (assignment_name != parsed_name) {
-    RCLCPP_WARN_STREAM(
-        this->node_logging_->get_logger(),
-        "The parsed name for assignment '" + assignment_name + "' is '" + parsed_name
-            + "'. Use the parsed name to refer to this assignment.");
-  }
-  try {
-    this->assignments_map_.get_parameter(parsed_name);
-    RCLCPP_WARN_STREAM(
-        this->node_logging_->get_logger(), "Assignment with name '" + parsed_name + "' already exists, overwriting.");
-  } catch (const state_representation::exceptions::InvalidParameterException& ex) {
-    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding assignment '" << parsed_name << "'.");
-  }
-  try {
-    assignments_map_.set_parameter(state_representation::make_shared_parameter<T>(parsed_name));
-  } catch (const std::exception& ex) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
-        "Failed to add assignment '" << parsed_name << "': " << ex.what());
-  }
-}
-
-template<typename T>
-void ComponentInterface::set_assignment(const std::string& assignment_name, const T& assignment_value) {
-  modulo_interfaces::msg::Assignment message;
-  std::shared_ptr<state_representation::ParameterInterface> assignment;
-  try {
-    assignment = this->assignments_map_.get_parameter(assignment_name);
-  } catch (const state_representation::exceptions::InvalidParameterException&) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
-        "Failed to set assignment '" << assignment_name << "': Assignment does not exist.");
-    return;
-  }
-  try {
-    assignment->set_parameter_value<T>(assignment_value);
-  } catch (const state_representation::exceptions::InvalidParameterCastException&) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
-        "Failed to set assignment '" << assignment_name << "': Incompatible value type.");
-    return;
-  }
-  message.node = this->node_base_->get_fully_qualified_name();
-  message.assignment = modulo_core::translators::write_parameter(assignment).to_parameter_msg();
-  this->assignment_publisher_->publish(message);
-}
-
-template<typename T>
-T ComponentInterface::get_assignment(const std::string& assignment_name) const {
-  std::shared_ptr<state_representation::ParameterInterface> assignment;
-  try {
-    assignment = this->assignments_map_.get_parameter(assignment_name);
-  } catch (const state_representation::exceptions::InvalidParameterException&) {
-    throw modulo_core::exceptions::InvalidAssignmentException(
-        "Failed to get value of assignment '" + assignment_name + "': Assignment does not exist.");
-  }
-  try {
-    return assignment->get_parameter_value<T>();
-  } catch (const state_representation::exceptions::InvalidParameterCastException&) {
-    auto expected_type = state_representation::get_parameter_type_name(assignment->get_parameter_type());
-    throw modulo_core::exceptions::InvalidAssignmentException(
-        "Incompatible type for assignment '" + assignment_name + "' defined with type '" + expected_type + "'.");
-  }
-}
 }// namespace modulo_components

source/modulo_components/src/ComponentInterface.cpp

@@ -28,9 +28,6 @@ ComponentInterface::ComponentInterface(
       });
   this->add_parameter("rate", 10.0, "The rate in Hertz for all periodic callbacks", true);
 
-  this->assignment_publisher_ = rclcpp::create_publisher<modulo_interfaces::msg::Assignment>(
-      this->node_parameters_, this->node_topics_, "/assignments", this->qos_);
-
   this->predicate_publisher_ = rclcpp::create_publisher<modulo_interfaces::msg::PredicateCollection>(
       this->node_parameters_, this->node_topics_, "/predicates", this->qos_);
   this->predicate_message_.node = this->node_base_->get_fully_qualified_name();

source/modulo_components/test/cpp/include/test_modulo_components/component_public_interfaces.hpp

@@ -21,7 +21,6 @@ class ComponentInterfacePublicInterface : public ComponentInterface {
   using ComponentInterface::add_input;
   using ComponentInterface::add_parameter;
   using ComponentInterface::add_predicate;
-  using ComponentInterface::add_assignment;
   using ComponentInterface::add_service;
   using ComponentInterface::add_static_tf_broadcaster;
   using ComponentInterface::add_tf_broadcaster;
@@ -31,7 +30,6 @@ class ComponentInterfacePublicInterface : public ComponentInterface {
   using ComponentInterface::declare_input;
   using ComponentInterface::declare_output;
   using ComponentInterface::empty_services_;
-  using ComponentInterface::get_assignment;
   using ComponentInterface::get_parameter;
   using ComponentInterface::get_parameter_value;
   using ComponentInterface::get_predicate;
@@ -46,15 +44,13 @@ class ComponentInterfacePublicInterface : public ComponentInterface {
   using ComponentInterface::parameter_map_;
   using ComponentInterface::periodic_outputs_;
   using ComponentInterface::predicates_;
-  using ComponentInterface::assignments_map_;
   using ComponentInterface::publish_output;
   using ComponentInterface::raise_error;
   using ComponentInterface::remove_input;
   using ComponentInterface::send_static_transform;
   using ComponentInterface::send_static_transforms;
   using ComponentInterface::send_transform;
   using ComponentInterface::send_transforms;
-  using ComponentInterface::set_assignment;
   using ComponentInterface::set_parameter_value;
   using ComponentInterface::set_predicate;
   using ComponentInterface::set_qos;

source/modulo_components/test/cpp/test_component_interface.cpp

@@ -7,7 +7,6 @@
 #include <modulo_utils/testutils/ServiceClient.hpp>
 
 #include "test_modulo_components/component_public_interfaces.hpp"
-#include "state_representation/exceptions/EmptyStateException.hpp"
 
 #include <sensor_msgs/msg/image.hpp>
 
@@ -42,35 +41,6 @@ class ComponentInterfaceTest : public ::testing::Test {
 using NodeTypes = ::testing::Types<rclcpp::Node, rclcpp_lifecycle::LifecycleNode>;
 TYPED_TEST_SUITE(ComponentInterfaceTest, NodeTypes);
 
-TYPED_TEST(ComponentInterfaceTest, AddAssignment) {
-  this->component_->template add_assignment<int>("an_assignment");
-  // adding an assignment with empty name should fail
-  EXPECT_NO_THROW(this->component_->template add_assignment<int>(""));
-  // adding an assignment with the same name should just overwrite
-  this->component_->template add_assignment<int>("an_assignment");
-  EXPECT_EQ(this->component_->assignments_map_.get_parameter_list().size(), 1);
-  // names should be cleaned up
-  EXPECT_NO_THROW(this->component_->template add_assignment<int>("7cleEaGn_AaSssiGNgn#ment"));
-  EXPECT_EQ(this->component_->assignments_map_.get_parameter_list().size(), 2);
-  // names without valid characters should fail
-  EXPECT_NO_THROW(this->component_->template add_assignment<int>("@@@@@@"));
-  EXPECT_EQ(this->component_->assignments_map_.get_parameter_list().size(), 2);
-}
-
-TYPED_TEST(ComponentInterfaceTest, GetSetAssignment) {
-  this->component_->template add_assignment<int>("int_assignment");
-
-  EXPECT_THROW(this->component_->template get_assignment<int>("non_existent"), modulo_core::exceptions::InvalidAssignmentException); 
-  EXPECT_NO_THROW(this->component_->set_assignment("non_existent", 5));
-
-  EXPECT_THROW(this->component_->template get_assignment<int>("int_assignment"), state_representation::exceptions::EmptyStateException); 
-  EXPECT_NO_THROW(this->component_->set_assignment("int_assignment", 5));
-  EXPECT_NO_THROW(this->component_->set_assignment("int_assignment", std::string("test")));
-
-  EXPECT_EQ(this->component_->template get_assignment<int>("int_assignment"), 5); 
-  EXPECT_THROW(this->component_->template get_assignment<std::string>("int_assignment"), modulo_core::exceptions::InvalidAssignmentException); 
-}
-
 TYPED_TEST(ComponentInterfaceTest, AddBoolPredicate) {
   this->component_->add_predicate("foo", true);
   auto predicate_iterator = this->component_->predicates_.find("foo");

source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp

@@ -18,7 +18,6 @@
 #include <modulo_core/translators/message_writers.hpp>
 #include <modulo_core/translators/parameter_translators.hpp>
 
-#include <modulo_interfaces/msg/assignment.hpp>
 #include <modulo_interfaces/msg/predicate_collection.hpp>
 #include <modulo_interfaces/srv/empty_trigger.hpp>
 #include <modulo_interfaces/srv/string_trigger.hpp>
@@ -190,34 +189,6 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
   template<typename T>
   void set_parameter_value(const std::string& name, const T& value);
 
-  /**
-   * @brief Add an assignment to the map of assignments.
-   * @tparam T The type of the assignment
-   * @param assignment_name the name of the associated assignment
-   */
-  template<typename T>
-  void add_assignment(const std::string& assignment_name);
-
-  /**
-   * @brief Set an assignment.
-   * @tparam T The type of the assignment   
-   * @param assignment_name The name of the assignment to publish
-   * @param assignment_value The value of the assignment
-   */
-  template<typename T>
-  void set_assignment(const std::string& assignment_name, const T& assignment_value);
-
-  /**
-   * @brief Get the value of an assignment.
-   * @tparam T The type of the assignment value   
-   * @param assignment_name The name of the assignment to get
-   * @throws modulo_core::exceptions::InvalidAssignmentException if the assignment does not exist or the type does not 
-     match
-     @throws state_representation::exceptions::EmptyStateException if the assignment has not been set yet 
-   */
-  template<typename T>
-  T get_assignment(const std::string& assignment_name) const;
-
   /**
    * @brief Add a predicate to the map of predicates.
    * @param predicate_name the name of the associated predicate
@@ -527,9 +498,6 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
   std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::StringTrigger>>>
       string_services_;///< Map of StringTrigger services
 
-  state_representation::ParameterMap assignments_map_;                                         ///< Map of assignments
-  std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::Assignment>> assignment_publisher_;///< Assignment publisher
-
   std::map<std::string, modulo_core::Predicate> predicates_;///< Map of predicates
   std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::PredicateCollection>>
       predicate_publisher_;          ///< Predicate publisher
@@ -989,85 +957,4 @@ BaseControllerInterface::create_service(const std::string& service_name, const s
   }
 }
 
-template<typename T>
-inline void BaseControllerInterface::add_assignment(const std::string& assignment_name) {
-  std::string parsed_name = modulo_utils::parsing::parse_topic_name(assignment_name);
-  if (parsed_name.empty()) {
-    RCLCPP_ERROR_STREAM(
-        get_node()->get_logger(),
-        "The parsed name for assignment '" + assignment_name
-            + "' is empty. Provide a string with valid characters for the assignment name ([a-z0-9_]).");
-    return;
-  }
-  if (assignment_name != parsed_name) {
-    RCLCPP_WARN_STREAM(
-        get_node()->get_logger(),
-        "The parsed name for assignment '" + assignment_name + "' is '" + parsed_name
-            + "'. Use the parsed name to refer to this assignment.");
-  }
-  try {
-    this->assignments_map_.get_parameter(parsed_name);
-    RCLCPP_WARN_STREAM(
-        get_node()->get_logger(), "Assignment with name '" + parsed_name + "' already exists, overwriting.");
-  } catch (const state_representation::exceptions::InvalidParameterException& ex) {
-    RCLCPP_DEBUG_STREAM(get_node()->get_logger(), "Adding assignment '" << parsed_name << "'.");
-  }
-  try {
-    assignments_map_.set_parameter(state_representation::make_shared_parameter<T>(parsed_name));
-  } catch (const std::exception& ex) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        get_node()->get_logger(), *get_node()->get_clock(), 1000,
-        "Failed to add assignment '" << parsed_name << "': " << ex.what());
-  }
-}
-
-template<typename T>
-inline void BaseControllerInterface::set_assignment(const std::string& assignment_name, const T& assignment_value) {
-  modulo_interfaces::msg::Assignment message;
-  std::shared_ptr<state_representation::ParameterInterface> assignment;
-  try {
-    assignment = assignments_map_.get_parameter(assignment_name);
-  } catch (const state_representation::exceptions::InvalidParameterException&) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        get_node()->get_logger(), *get_node()->get_clock(), 1000,
-        "Failed to set assignment '" << assignment_name << "': Assignment does not exist.");
-    return;
-  }
-  try {
-    assignment->set_parameter_value<T>(assignment_value);
-  } catch (const state_representation::exceptions::InvalidParameterCastException&) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        get_node()->get_logger(), *get_node()->get_clock(), 1000,
-        "Failed to set assignment '" << assignment_name << "': Incompatible value type.");
-    return;
-  }
-  if (assignment_publisher_ == nullptr) {
-    RCLCPP_ERROR_STREAM_THROTTLE(
-        get_node()->get_logger(), *get_node()->get_clock(), 1000,
-        "No assignment publisher configured. Make sure to add assignments `on_init` of the controller.");
-    return;
-  }
-  message.node = get_node()->get_fully_qualified_name();
-  message.assignment = modulo_core::translators::write_parameter(assignment).to_parameter_msg();
-  assignment_publisher_->publish(message);
-}
-
-template<typename T>
-inline T BaseControllerInterface::get_assignment(const std::string& assignment_name) const {
-  std::shared_ptr<state_representation::ParameterInterface> assignment;
-  try {
-    assignment = assignments_map_.get_parameter(assignment_name);
-  } catch (const state_representation::exceptions::InvalidParameterException&) {
-    throw modulo_core::exceptions::InvalidAssignmentException(
-        "Failed to get value of assignment '" + assignment_name + "': Assignment does not exist.");
-  }
-  try {
-    return assignment->get_parameter_value<T>();
-  } catch (const state_representation::exceptions::InvalidParameterCastException&) {
-    auto expected_type = state_representation::get_parameter_type_name(assignment->get_parameter_type());
-    throw modulo_core::exceptions::InvalidAssignmentException(
-        "Incompatible type for assignment '" + assignment_name + "' defined with type '" + expected_type + "'.");
-  }
-}
-
 }// namespace modulo_controllers

source/modulo_controllers/src/BaseControllerInterface.cpp

@@ -58,9 +58,6 @@ BaseControllerInterface::on_configure(const rclcpp_lifecycle::State&) {
         std::chrono::nanoseconds(static_cast<int64_t>(1e9 / get_parameter_value<double>("predicate_publishing_rate"))),
         [this]() { this->publish_predicates(); });
   }
-  if (assignments_map_.get_parameters().size()) {
-    assignment_publisher_ = get_node()->create_publisher<modulo_interfaces::msg::Assignment>("/assignments", qos_);
-  }
 
   RCLCPP_DEBUG(get_node()->get_logger(), "Configuration of BaseControllerInterface successful");
   return CallbackReturn::SUCCESS;

source/modulo_core/include/modulo_core/exceptions.hpp

@@ -42,16 +42,6 @@ class AddSignalException : public CoreException {
   explicit AddSignalException(const std::string& msg) : CoreException("AddSignalException", msg) {}
 };
 
-/**
- * @class InvalidAssignmentException
- * @brief An exception class to notify errors when getting the value of an assignment.
- * @details This is an exception class to be thrown if there is a problem while getting the value of an assignment in a modulo class.
- */
-class InvalidAssignmentException : public CoreException {
-public:
-  explicit InvalidAssignmentException(const std::string& msg) : CoreException("InvalidAssignmentException", msg) {}
-};
-
 /**
  * @class InvalidPointerCastException
  * @brief An exception class to notify if the result of getting an instance of a derived class through dynamic