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refactor(gateway): extract declare_plugin_params_from_yaml to shared header
- Move function to param_utils.hpp so test uses the real implementation instead of a diverging copy - Use unique_ptr RAII guard for rcl_params_t instead of manual cleanup - Log param name on declaration failure instead of silent catch(...) - Warn when encountering unsupported array param types
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3 files changed

Lines changed: 81 additions & 96 deletions

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‎src/ros2_medkit_gateway/include/ros2_medkit_gateway/param_utils.hpp‎

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// Copyright 2026 bburda
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <memory>
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#include <string>
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#include <rcl/arguments.h>
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#include <rcl_yaml_param_parser/parser.h>
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#include <rclcpp/rclcpp.hpp>
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namespace ros2_medkit_gateway {
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/// Declare plugin config parameters from the global --params-file YAML.
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///
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/// Parameters from --params-file go into the ROS 2 global rcl context,
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/// NOT into NodeOptions::parameter_overrides(). We must discover and
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/// declare them explicitly so list_parameters()/get_parameter() can find them.
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inline void declare_plugin_params_from_yaml(rclcpp::Node * node, const std::string & prefix,
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const std::string & path_key = "") {
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auto rcl_ctx = node->get_node_base_interface()->get_context()->get_rcl_context();
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rcl_params_t * global_params = nullptr;
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auto ret = rcl_arguments_get_param_overrides(&rcl_ctx->global_arguments, &global_params);
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if (ret != RCL_RET_OK || global_params == nullptr) {
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return;
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}
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auto cleanup = [](rcl_params_t * p) {
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if (p) {
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rcl_yaml_node_struct_fini(p);
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}
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};
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std::unique_ptr<rcl_params_t, decltype(cleanup)> guard(global_params, cleanup);
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std::string node_name = node->get_name();
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std::string node_fqn = node->get_fully_qualified_name();
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for (size_t n = 0; n < global_params->num_nodes; ++n) {
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std::string yaml_node = global_params->node_names[n];
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if (yaml_node != node_name && yaml_node != node_fqn && yaml_node != "/**") {
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continue;
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}
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auto * node_p = &global_params->params[n];
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for (size_t p = 0; p < node_p->num_params; ++p) {
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std::string pname = node_p->parameter_names[p];
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if (pname.rfind(prefix, 0) == 0 && pname != path_key && !node->has_parameter(pname)) {
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auto & val = node_p->parameter_values[p];
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try {
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if (val.string_value != nullptr) {
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node->declare_parameter(pname, std::string(val.string_value));
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} else if (val.bool_value != nullptr) {
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node->declare_parameter(pname, *val.bool_value);
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} else if (val.integer_value != nullptr) {
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node->declare_parameter(pname, static_cast<int64_t>(*val.integer_value));
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} else if (val.double_value != nullptr) {
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node->declare_parameter(pname, *val.double_value);
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} else {
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RCLCPP_WARN(node->get_logger(), "Skipping param '%s': unsupported type (array?)", pname.c_str());
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}
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} catch (const std::exception & e) {
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RCLCPP_DEBUG(node->get_logger(), "Could not declare param '%s': %s", pname.c_str(), e.what());
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}
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}
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}
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}
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}
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} // namespace ros2_medkit_gateway

‎src/ros2_medkit_gateway/src/gateway_node.cpp‎

Lines changed: 1 addition & 49 deletions
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@@ -22,10 +22,8 @@
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#include <set>
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#include <unordered_set>
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#include <rcl/arguments.h>
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#include <rcl_yaml_param_parser/parser.h>
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#include "ros2_medkit_gateway/aggregation/network_utils.hpp"
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#include "ros2_medkit_gateway/param_utils.hpp"
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#include "ros2_medkit_gateway/http/handlers/sse_transport_provider.hpp"
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#include "ros2_medkit_gateway/sqlite_trigger_store.hpp"
@@ -62,52 +60,6 @@ nlohmann::json parameter_to_json(const rclcpp::Parameter & param) {
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}
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}
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/// Declare plugin config parameters from the global --params-file YAML.
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///
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/// Parameters from --params-file go into the ROS 2 global rcl context,
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/// NOT into NodeOptions::parameter_overrides(). We must discover and
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/// declare them explicitly so list_parameters()/get_parameter() can find them.
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void declare_plugin_params_from_yaml(rclcpp::Node * node, const std::string & prefix, const std::string & path_key) {
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auto rcl_ctx = node->get_node_base_interface()->get_context()->get_rcl_context();
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rcl_params_t * global_params = nullptr;
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auto ret = rcl_arguments_get_param_overrides(&rcl_ctx->global_arguments, &global_params);
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if (ret != RCL_RET_OK || global_params == nullptr) {
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return;
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}
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std::string node_name = node->get_name();
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std::string node_fqn = node->get_fully_qualified_name();
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for (size_t n = 0; n < global_params->num_nodes; ++n) {
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std::string yaml_node = global_params->node_names[n];
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if (yaml_node != node_name && yaml_node != node_fqn && yaml_node != "/**") {
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continue;
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}
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auto * node_p = &global_params->params[n];
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for (size_t p = 0; p < node_p->num_params; ++p) {
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std::string pname = node_p->parameter_names[p];
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if (pname.rfind(prefix, 0) == 0 && pname != path_key && !node->has_parameter(pname)) {
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// Determine the type from the rcl_variant_t so we can declare with the correct type
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auto & val = node_p->parameter_values[p];
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try {
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if (val.string_value != nullptr) {
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node->declare_parameter(pname, std::string(val.string_value));
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} else if (val.bool_value != nullptr) {
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node->declare_parameter(pname, *val.bool_value);
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} else if (val.integer_value != nullptr) {
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node->declare_parameter(pname, static_cast<int64_t>(*val.integer_value));
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} else if (val.double_value != nullptr) {
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node->declare_parameter(pname, *val.double_value);
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}
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} catch (...) {
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// Skip params that can't be declared
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}
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}
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}
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}
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rcl_yaml_node_struct_fini(global_params);
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}
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/// Extract per-plugin config from ROS 2 parameters.
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/// Scans for keys matching "plugins.<name>.<key>" (excluding ".path")
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/// and builds a flat JSON object: {"<key>": value, ...}

‎src/ros2_medkit_gateway/test/test_plugin_config.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -28,54 +28,9 @@
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#include <fstream>
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#include <string>
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#include <rcl/arguments.h>
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#include <rcl_yaml_param_parser/parser.h>
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#include <rclcpp/rclcpp.hpp>
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namespace {
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/// Replicate the fix logic from gateway_node.cpp for testability.
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/// Declares plugin params from the global rcl context on a given node.
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void declare_plugin_params_from_yaml(rclcpp::Node * node, const std::string & prefix) {
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auto rcl_ctx = node->get_node_base_interface()->get_context()->get_rcl_context();
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rcl_params_t * global_params = nullptr;
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if (rcl_arguments_get_param_overrides(&rcl_ctx->global_arguments, &global_params) != RCL_RET_OK ||
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global_params == nullptr) {
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return;
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}
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std::string node_name = node->get_name();
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std::string node_fqn = node->get_fully_qualified_name();
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for (size_t n = 0; n < global_params->num_nodes; ++n) {
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std::string yaml_node = global_params->node_names[n];
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if (yaml_node != node_name && yaml_node != node_fqn && yaml_node != "/**") {
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continue;
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}
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auto * node_p = &global_params->params[n];
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for (size_t p = 0; p < node_p->num_params; ++p) {
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std::string pname = node_p->parameter_names[p];
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if (pname.rfind(prefix, 0) == 0 && !node->has_parameter(pname)) {
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auto & val = node_p->parameter_values[p];
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try {
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if (val.string_value != nullptr) {
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node->declare_parameter(pname, std::string(val.string_value));
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} else if (val.bool_value != nullptr) {
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node->declare_parameter(pname, *val.bool_value);
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} else if (val.integer_value != nullptr) {
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node->declare_parameter(pname, static_cast<int64_t>(*val.integer_value));
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} else if (val.double_value != nullptr) {
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node->declare_parameter(pname, *val.double_value);
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}
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} catch (...) {
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}
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}
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}
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}
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rcl_yaml_node_struct_fini(global_params);
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}
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} // namespace
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#include "ros2_medkit_gateway/param_utils.hpp"
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/// Proves the bug and validates the fix using a lightweight rclcpp::Node.
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///
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<< "(this confirms the root cause of the bug)";
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// FIX: declare_plugin_params_from_yaml discovers and declares them
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declare_plugin_params_from_yaml(node.get(), "plugins.my_plugin.");
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ros2_medkit_gateway::declare_plugin_params_from_yaml(node.get(), "plugins.my_plugin.");
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// Verify all param types are correctly declared
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ASSERT_TRUE(node->has_parameter("plugins.my_plugin.custom_key"));

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