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cyber中参数服务通讯中，python端有BUG #15023

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gaodechao opened this issue Jul 3, 2023 · 1 comment · May be fixed by #15028
Open

cyber中参数服务通讯中，python端有BUG #15023

gaodechao opened this issue Jul 3, 2023 · 1 comment · May be fixed by #15028
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Module:Cyber

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@gaodechao
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Describe the bug
这是我写的代码
其中13-15行设置三个参数
在17-19行获取，在20-22行打印时与名字对应不上，变量name变成了typename。name消失了


#!/usr/bin/env python3


from cyber.python.cyber_py3 import cyber
from cyber.python.cyber_py3 import parameter

if __name__ == "__main__":
    cyber.init()
    param_server_node = cyber.Node("car_param")
    #创建节点
    param_server = parameter.ParameterServer(param_server_node)
    #增
    param_server.set_parameter(parameter.Parameter("car_type","apollo"))
    param_server.set_parameter(parameter.Parameter("height",1.89))
    param_server.set_parameter(parameter.Parameter("lasers",4))
    #查
    p1 = param_server.get_parameter("car_type")
    p2 = param_server.get_parameter("height")
    p3 = param_server.get_parameter("lasers")
    print("car_type :",p1.as_string())
    print("height :",p2.as_double())
    print("lasers :",p3.as_int64())

    for p in param_server.get_paramslist():
        print("name :",p.name())
        print("typename :",p.type_name())
        print("debug_String :",p.debug_string())
        print("-"*60)

    #改
    param_server.set_parameter(parameter.Parameter("lasers",10))
    p4 = param_server.get_parameter("lasers")

    print("after change, lasers :",p4.as_int64())

    param_server_node.spin()
    cyber.shutdown()

而输出的结果与预期不相符

root@in-cyber-docker:/apollo# ./bazel-bin/cyber/demo_py/demo05_param_server_py
E0703 16:11:53.593977 167261 py_parameter.cc:516] [cyber_py]pyparam_srv get_parameter is false!
E0703 16:11:53.594095 167261 py_parameter.cc:516] [cyber_py]pyparam_srv get_parameter is false!
E0703 16:11:53.594115 167261 py_parameter.cc:516] [cyber_py]pyparam_srv get_parameter is false!
E0703 16:11:53.594151 167261 parameter.h:326] [cyber_py]The type of parameter "" is , not STRING
car_type : b''
E0703 16:11:53.594216 167261 parameter.h:314] [cyber_py]The type of parameter "" is , not DOUBLE
height : 0.0
E0703 16:11:53.594256 167261 parameter.h:303] [cyber_py]The type of parameter "" is , not INT
lasers : 0
name : b'STRING'
typename : b'STRING'
debug_String : b'{name: "STRING", type: "STRING", value: "apollo"}'
------------------------------------------------------------
name : b'INT'
typename : b'INT'
debug_String : b'{name: "INT", type: "INT", value: 4}'
------------------------------------------------------------
name : b'DOUBLE'
typename : b'DOUBLE'
debug_String : b'{name: "DOUBLE", type: "DOUBLE", value: 1.890000}'
------------------------------------------------------------
E0703 16:11:53.594429 167261 py_parameter.cc:516] [cyber_py]pyparam_srv get_parameter is false!
E0703 16:11:53.594437 167261 parameter.h:303] [cyber_py]The type of parameter "" is , not INT
after change, lasers : 0
@gaodechao gaodechao changed the title cyber中参数服务，python端在name那有BUG cyber中参数服务通讯中，python端有BUG Jul 3, 2023
@YuqiHuai
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YuqiHuai commented Jul 4, 2023

Cyber Parameter does seem to have a problem. When running the provided example cyber/python/cyber_py3/examples/parameter
On Apollo v7 I get

clt param lst len is  3
b'{name: "author_score", type: "DOUBLE", value: 888.880000}'
b'{name: "author_name", type: "STRING", value: "WanderingEarth"}'
b'{name: "author_age", type: "INT", value: 5000}'

srv param lst len is  3
b'{name: "author_score", type: "DOUBLE", value: 888.880000}'
b'{name: "author_name", type: "STRING", value: "WanderingEarth"}'
b'{name: "author_age", type: "INT", value: 5000}'

and the script does not exit by itself.
On Apollo v8 I get

clt param lst len is  1
b'{name: "global_parameter_service/list_parameters", type: "global_parameter_service/list_parameters", value: 888.880000}'

srv param lst len is  1
b'{name: "global_parameter_service/list_parameters", type: "global_parameter_service/list_parameters", value: 888.880000}'

Name is incorrect, type is incorrect, and only the last value is preserved.

@YuqiHuai YuqiHuai linked a pull request Jul 4, 2023 that will close this issue
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fix: correct cyber parameter BUILD and enable its test YuqiHuai/BaiduApollo
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@daohu527 @YuqiHuai @gaodechao