From 00062740e00f20e491c9f0dbfe73836cd696c558 Mon Sep 17 00:00:00 2001
From: tomoya <Tomoya.Fujita@sony.com>
Date: Fri, 30 Oct 2020 04:31:19 +0900
Subject: [PATCH] add "--param-type" option to ros2param list. (#572)

* add "--param-type" option to ros2param list.

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
---
 ros2param/ros2param/api/__init__.py  | 16 ++++++++++++++++
 ros2param/ros2param/verb/describe.py | 18 +-----------------
 ros2param/ros2param/verb/list.py     | 24 ++++++++++++++++++++++--
 3 files changed, 39 insertions(+), 19 deletions(-)

diff --git a/ros2param/ros2param/api/__init__.py b/ros2param/ros2param/api/__init__.py
index cd8a4b29a..47ea94611 100644
--- a/ros2param/ros2param/api/__init__.py
+++ b/ros2param/ros2param/api/__init__.py
@@ -185,6 +185,22 @@ def call_list_parameters(*, node, node_name, prefix=None):
     return response.result.names
 
 
+def get_parameter_type_string(parameter_type):
+    mapping = {
+        ParameterType.PARAMETER_BOOL: 'boolean',
+        ParameterType.PARAMETER_INTEGER: 'integer',
+        ParameterType.PARAMETER_DOUBLE: 'double',
+        ParameterType.PARAMETER_STRING: 'string',
+        ParameterType.PARAMETER_BYTE_ARRAY: 'byte array',
+        ParameterType.PARAMETER_BOOL_ARRAY: 'boolean array',
+        ParameterType.PARAMETER_INTEGER_ARRAY: 'integer array',
+        ParameterType.PARAMETER_DOUBLE_ARRAY: 'double array',
+        ParameterType.PARAMETER_STRING_ARRAY: 'string array',
+        ParameterType.PARAMETER_NOT_SET: 'not set',
+    }
+    return mapping[parameter_type]
+
+
 class ParameterNameCompleter:
     """Callable returning a list of parameter names."""
 
diff --git a/ros2param/ros2param/verb/describe.py b/ros2param/ros2param/verb/describe.py
index 1cc591dd8..02ef49d17 100644
--- a/ros2param/ros2param/verb/describe.py
+++ b/ros2param/ros2param/verb/describe.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rcl_interfaces.msg import ParameterType
 from ros2cli.node.direct import DirectNode
 from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
@@ -20,6 +19,7 @@
 from ros2node.api import get_node_names
 from ros2node.api import NodeNameCompleter
 from ros2param.api import call_describe_parameters
+from ros2param.api import get_parameter_type_string
 from ros2param.api import ParameterNameCompleter
 from ros2param.verb import VerbExtension
 
@@ -77,19 +77,3 @@ def _print_descriptor(self, descriptor):
             if descriptor.additional_constraints:
                 print('    Additional constraints:',
                       descriptor.additional_constraints)
-
-
-def get_parameter_type_string(parameter_type):
-    mapping = {
-        ParameterType.PARAMETER_BOOL: 'boolean',
-        ParameterType.PARAMETER_INTEGER: 'integer',
-        ParameterType.PARAMETER_DOUBLE: 'double',
-        ParameterType.PARAMETER_STRING: 'string',
-        ParameterType.PARAMETER_BYTE_ARRAY: 'byte array',
-        ParameterType.PARAMETER_BOOL_ARRAY: 'boolean array',
-        ParameterType.PARAMETER_INTEGER_ARRAY: 'integer array',
-        ParameterType.PARAMETER_DOUBLE_ARRAY: 'double array',
-        ParameterType.PARAMETER_STRING_ARRAY: 'string array',
-        ParameterType.PARAMETER_NOT_SET: 'not set',
-    }
-    return mapping[parameter_type]
diff --git a/ros2param/ros2param/verb/list.py b/ros2param/ros2param/verb/list.py
index 77135cdbc..8614b8581 100644
--- a/ros2param/ros2param/verb/list.py
+++ b/ros2param/ros2param/verb/list.py
@@ -22,6 +22,8 @@
 from ros2node.api import get_absolute_node_name
 from ros2node.api import get_node_names
 from ros2node.api import NodeNameCompleter
+from ros2param.api import call_describe_parameters
+from ros2param.api import get_parameter_type_string
 from ros2param.verb import VerbExtension
 from ros2service.api import get_service_names
 
@@ -41,6 +43,9 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--param-prefixes', nargs='+', default=[],
             help='Only list parameters with the provided prefixes')
+        parser.add_argument(
+            '--param-type', action='store_true',
+            help='Print parameter types with parameter names')
 
     def main(self, *, args):  # noqa: D102
         with NodeStrategy(args) as node:
@@ -96,8 +101,23 @@ def main(self, *, args):  # noqa: D102
                     if not args.node_name:
                         print(f'{node_name.full_name}:')
                     response = future.result()
-                    for name in sorted(response.result.names):
-                        print(f'  {name}')
+                    sorted_names = sorted(response.result.names)
+                    # get descriptors for the node if needs to print parameter type
+                    name_to_type_map = {}
+                    if args.param_type is True:
+                        resp = call_describe_parameters(
+                            node=node, node_name=node_name.full_name,
+                            parameter_names=sorted_names)
+                        for descriptor in resp.descriptors:
+                            name_to_type_map[descriptor.name] = get_parameter_type_string(
+                                descriptor.type)
+
+                    for name in sorted_names:
+                        if args.param_type is True:
+                            param_type_str = name_to_type_map[name]
+                            print(f'  {name} (type: {param_type_str})')
+                        else:
+                            print(f'  {name}')
                 else:
                     e = future.exception()
                     print(