share logic about load parameter from cahce, file, resource

concert_service_manager/src/concert_service_manager/load_params.py

@@ -16,27 +16,12 @@
 # Methods
 ##############################################################################
 
+def load_parameters_from_resource(parameter_resource_name, namespace, name, load):
+    filepath = rocon_python_utils.ros.find_resource_from_string(resource_name, extension='parameters')
+    load_parameters_from_file(filepath, namespace, name, load)
 
-def load_parameters_from_file(parameter_file, namespace, name, load):
-    filepath = rocon_python_utils.ros.find_resource_from_string(parameter_file, extension='parameters')
-
-    with open(filepath) as f:
-        params = yaml.load(f)
-        for k, v in params.items():
-            if k in INVALID_PARAM:
-                if load:
-                    rospy.logwarn("Service Manager : %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
-                continue
-            param_name = namespace + '/' + k
-            if load:
-                rospy.set_param(param_name, v)
-            else:
-                rospy.delete_param(param_name)
-
-
-def load_parameters_from_cache(catche_file_path, namespace, name, load):
-    filepath = catche_file_path
-
+def load_parameters_from_file(parameter_file_path, namespace, name, load):
+    filepath = parameter_file_path
     with open(filepath) as f:
         params = yaml.load(f)
         for k, v in params.items():
@@ -48,4 +33,4 @@ def load_parameters_from_cache(catche_file_path, namespace, name, load):
             if load:
                 rospy.set_param(param_name, v)
             else:
-                rospy.delete_param(param_name)
+                rospy.delete_param(param_name)

concert_service_manager/src/concert_service_manager/service_instance.py

@@ -19,7 +19,7 @@
 import rocon_interactions
 import unique_id
 
-from .load_params import load_parameters_from_cache
+from .load_params import load_parameters_from_file
 from .utils import *
 
 ##############################################################################
@@ -87,9 +87,8 @@ def enable(self, unique_identifier, interactions_loader):
             # load up parameters first so that when start runs, it can find the params immediately
             if self.msg.parameters != '':
                 namespace = concert_msgs.Strings.SERVICE_NAMESPACE + '/' + self.msg.name
-                #load_parameters_from_file(self.msg.parameters, namespace, self.msg.name, load=True)
                 parameter_path = os.path.join(get_service_profile_cache_home(self._concert_name, self.name), self.name + '.parameters')
-                load_parameters_from_cache(parameter_path, namespace, self.msg.name, load=True)
+                load_parameters_from_file(parameter_path, namespace, self.msg.name, load=True)
             # Refresh the unique id
             self.msg.uuid = unique_id.toMsg(unique_identifier)
             self._start()
@@ -124,9 +123,8 @@ def disable(self, interactions_loader):
                 interactions_loader.load(interaction_path, namespace=self._namespace, load=False, is_relative_path=False)
             if self.msg.parameters != '':
                 namespace = concert_msgs.Strings.SERVICE_NAMESPACE + '/' + self.msg.name
-                #load_parameters_from_file(self.msg.parameters, namespace, self.msg.name, load=False)
                 parameter_path = os.path.join(get_service_profile_cache_home(self._concert_name, self.name), self.name + '.parameters')
-                load_parameters_from_cache(parameter_path, namespace, self.msg.name, load=False)
+                load_parameters_from_file(parameter_path, namespace, self.msg.name, load=False)
 
             launcher_type = self.msg.launcher_type
             force_kill = False