Fix conflicting validators

README.md

@@ -264,6 +264,8 @@ The built-in validator functions provided by this package are:
 | gt_eq<>  | [value]             | parameter >= value                   |
 | one_of<> | [[val1, val2, ...]] | Value is one of the specified values |
 
+Note: `lt<>`, `gt<>`, `lt_eq<>`, or `gt_eq<>` cannot be used together with `bounds<>`.
+
 **String validators**
 | Function     | Arguments           | Description                                    |
 | ------------ | ------------------- | ---------------------------------------------- |
@@ -286,6 +288,8 @@ The built-in validator functions provided by this package are:
 | lower_element_bounds<> | [lower]             | Lower bound for each element (inclusive)            |
 | upper_element_bounds<> | [upper]             | Upper bound for each element (inclusive)            |
 
+Note: `element_bounds<>` cannot be mixed with `lower_element_bounds<>` or `upper_element_bounds<>`.
+
 ### Custom validator functions
 Validators are functions that return a `tl::expected<void, std::string>` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.
 Validators are C++ functions defined in a header file similar to the example shown below.

example/src/parameters.yaml

@@ -29,6 +29,15 @@ admittance_controller:
         validation:
           gt<>: [0.0]
 
+      limit:
+        type: double_array
+        description: "specifies limit for x, y and z axis"
+        default_value: [0.0, 0.0, 0.0]
+        validation:
+          fixed_size<>: 3
+          lower_element_bounds<>: -10.0
+          upper_element_bounds<>: 10.0
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:
@@ -223,6 +232,15 @@ admittance_controller:
       validation:
         element_bounds: [ 0.0001, 100000.0 ]
 
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    default_value: [0.0, 0.0, 0.0]
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0
+
   # general settings
   enable_parameter_update_without_reactivation:
     type: bool
@@ -244,6 +262,20 @@ admittance_controller:
     description: "should be a number greater than 15"
     validation:
       gt<>: [ 15 ]
+  gt_fifteen_lt_eq_twenty:
+    type: int
+    default_value: 20
+    description: "should be a number greater than 15 and less than or equal to 20"
+    validation:
+      gt<>: [ 15 ]
+      lt_eq<>: [ 20 ]
+  gt_fifteen_lt_twenty:
+    type: int
+    default_value: 16
+    description: "should be a number greater than 15 and less than 20"
+    validation:
+      gt<>: [ 15 ]
+      lt<>: [ 20 ]
   one_number:
     type: int
     default_value: 14540

example_python/generate_parameter_module_example/parameters.yaml

@@ -35,6 +35,15 @@ admittance_controller:
         validation:
           gt<>: [0.0]
 
+      limit:
+        type: double_array
+        description: "specifies limit for x, y and z axis"
+        default_value: [0.0, 0.0, 0.0]
+        validation:
+          fixed_size<>: 3
+          lower_element_bounds<>: -10.0
+          upper_element_bounds<>: 10.0
+
   nested_dynamic:
     __map_joints:
       __map_dof_names:
@@ -226,6 +235,15 @@ admittance_controller:
       validation:
         element_bounds: [ 0.0001, 100000.0 ]
 
+  acceleration_limits:
+    type: double_array
+    description: "specifies maximum acceleration limits for x, y and z axis"
+    default_value: [0.0, 0.0, 0.0]
+    validation:
+      fixed_size<>: 3
+      lower_element_bounds<>: -10.0
+      upper_element_bounds<>: 10.0
+
   # general settings
   enable_parameter_update_without_reactivation:
     type: bool
@@ -247,6 +265,20 @@ admittance_controller:
     description: "should be a number greater than 15"
     validation:
       gt<>: [ 15 ]
+  gt_fifteen_lt_eq_twenty:
+    type: int
+    default_value: 20
+    description: "should be a number greater than 15 and less than or equal to 20"
+    validation:
+      gt<>: [ 15 ]
+      lt_eq<>: [ 20 ]
+  gt_fifteen_lt_twenty:
+    type: int
+    default_value: 16
+    description: "should be a number greater than 15 and less than 20"
+    validation:
+      gt<>: [ 15 ]
+      lt<>: [ 20 ]
   one_number:
     type: int
     default_value: 14540

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter

@@ -6,37 +6,41 @@ descriptor.read_only = {{parameter_read_only}};
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.floating_point_range.resize(1);
+descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
+descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
-{%- endif %}
+{%- set range.upper = validation.arguments[0] %}
 {%- endif %}
 {%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.integer_range.resize(1);
+descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
+descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
+{%- endif %}
+{%- endif %}
 {%- if not parameter_value|length %}
 auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
 {% endif -%}

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter

@@ -22,37 +22,41 @@ descriptor.read_only = {{parameter_read_only}};
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = {{parameter_additional_constraints | valid_string_cpp}};
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.resize({{loop.index}});
-descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
-descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.floating_point_range.resize(1);
+descriptor.floating_point_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<double>::lowest()"}};
+descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<double>::max()"}};
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[1]}};
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
-descriptor.integer_range.at({{loop.index0}}).to_value = std::numeric_limits<int64_t>::max();
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.resize({{loop.index}});
-descriptor.integer_range.at({{loop.index0}}).from_value = std::numeric_limits<int64_t>::lowest();
-descriptor.integer_range.at({{loop.index0}}).to_value = {{validation.arguments[0]}};
-{%- endif %}
+{%- set range.upper = validation.arguments[0] %}
 {%- endif %}
 {%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
+descriptor.integer_range.resize(1);
+descriptor.integer_range.at(0).from_value = {{range.lower if range.lower is not none else "std::numeric_limits<int64_t>::lowest()"}};
+descriptor.integer_range.at(0).to_value = {{range.upper if range.upper is not none else "std::numeric_limits<int64_t>::max()"}};
+{%- endif %}
+{%- endif %}
 {%- if not default_value|length %}
 auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
 {% endif -%}

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter

@@ -4,37 +4,41 @@ descriptor = ParameterDescriptor(description=r"{{parameter_description|valid_str
 {%- if parameter_additional_constraints|length %}
 descriptor.additional_constraints = "{{parameter_additional_constraints|valid_string_python}}"
 {% endif -%}
-{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.floating_point_range[-1].to_value = float('inf')
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.floating_point_range.append(FloatingPointRange())
-descriptor.floating_point_range[-1].from_value = -float('inf')
-descriptor.floating_point_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.floating_point_range[-1].from_value = {{range.lower if range.lower is not none else "-float('inf')"}}
+descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is not none else "float('inf')"}}
 {%- endif %}
 {%- elif "INTEGER" in parameter_type %}
+{%- set range = namespace(lower=None, upper=None) %}
+{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if validation.arguments|length == 2 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = {{validation.arguments[1]}}
+{%- set range.lower = validation.arguments[0] %}
+{%- set range.upper = validation.arguments[1] %}
 {%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
-descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = {{validation.arguments[0]}}
-descriptor.integer_range[-1].to_value = 2**31-1
+{%- set range.lower = validation.arguments[0] %}
 {%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
+{%- set range.upper = validation.arguments[0] %}
+{%- endif %}
+{%- endfor %}
+{%- if range.lower is not none or range.upper is not none %}
 descriptor.integer_range.append(IntegerRange())
-descriptor.integer_range[-1].from_value = -2**31-1
-descriptor.integer_range[-1].to_value = {{validation.arguments[0]}}
+descriptor.integer_range[-1].from_value = {{range.lower if range.lower is not none else "-2**31-1"}}
+descriptor.integer_range[-1].to_value = {{range.upper if range.upper is not none else "2**31-1"}}
 {%- endif %}
 {%- endif %}
-{%- endfor %}
 {%- if not parameter_value|length %}
 parameter = rclpy.Parameter.Type.{{parameter_type}}
 {% endif -%}