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Fix: allow nested param names #251

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Fix: allow nested param names #251

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e8f25d7
wip
Mar 20, 2025
fa9d3fb
example
Mar 24, 2025
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13 changes: 7 additions & 6 deletions example/src/parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,13 @@ admittance_controller:
gt_eq<>: [ 0.0001 ]
__map_joints:
__map_dof_names:
nested_deep:
type: double
default_value: 1.0
description: "test deep nested map params"
validation:
gt_eq<>: [ 0.0001 ]
nested:
nested_deep:
type: double
default_value: 1.0
description: "test deep nested map params"
validation:
gt_eq<>: [ 0.0001 ]

pid:
rate:
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11 changes: 5 additions & 6 deletions generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,8 +101,8 @@ def int_to_integer_str(value: str):

def get_dynamic_parameter_field(yaml_parameter_name: str):
tmp = yaml_parameter_name.split('.')
parameter_field = tmp[-1]
return parameter_field
index = tmp.index(next(val for val in reversed(tmp) if is_mapped_parameter(val)))
return ".".join(tmp[index + 1:])


def get_dynamic_mapped_parameter(yaml_parameter_name: str):
Expand All @@ -115,9 +115,8 @@ def get_dynamic_mapped_parameter(yaml_parameter_name: str):

def get_dynamic_struct_name(yaml_parameter_name: str):
tmp = yaml_parameter_name.split('.')
num_nested = sum([is_mapped_parameter(val) for val in tmp])
struct_name = tmp[: -(num_nested + 1)]
return '.'.join(struct_name)
index = tmp.index(next(val for val in tmp if is_mapped_parameter(val)))
return tmp[index - 1] if index > 0 else ''


def get_dynamic_parameter_name(yaml_parameter_name: str):
Expand Down Expand Up @@ -806,7 +805,7 @@ def parse_params(self, name, value, nested_name_list):
var = VariableDeclaration(code_gen_variable)

# check if runtime parameter
is_runtime_parameter = is_mapped_parameter(self.struct_tree.struct_name)
is_runtime_parameter = any(is_mapped_parameter(item) for item in nested_name_list)

if is_runtime_parameter:
declare_parameter_set = SetRuntimeParameter(param_name, code_gen_variable)
Expand Down