refactor(dc_measurements,dc_core): rename custom_params to custom_keys

dc_core/include/dc_core/measurement.hpp

@@ -51,7 +51,7 @@ class Measurement
    * from if_all/if_any/if_none, which are re-evaluated on every collection
    * @param  run_id Unique ID of the current run
    * @param  run_id Whether Run Id is enabled
-   * @param  custom_params Vector of JSON with custom parameters
+   * @param  custom_keys Vector of JSON with custom keys
    */
   virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr& parent, const std::string& name,
                          const std::map<std::string, std::shared_ptr<dc_core::Condition>>& conditions,
@@ -68,7 +68,7 @@ class Measurement
                          const bool& nest, const bool& flatten, const std::string& save_local_base_path,
                          const std::string& all_base_path, const std::string& all_base_path_expanded,
                          const std::string& save_local_base_path_expanded, const std::string& run_id,
-                         const bool& run_id_enabled, const std::vector<json>& custom_params) = 0;
+                         const bool& run_id_enabled, const std::vector<json>& custom_keys) = 0;
 
   /**
    * @brief Method to cleanup resources used on shutdown.

dc_demos/params/elasticsearch.yaml

@@ -33,8 +33,8 @@ dc_bridge:
 measurement_server:
   ros__parameters:
     measurement_plugins: ["cpu", "memory", "os", "uptime"]
-    custom_str_params_list: ["robot_name"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "C3PO"

dc_demos/params/qrcodes_minio_pgsql.yaml

@@ -70,8 +70,8 @@ measurement_server:
     robot_name: "C3PO"
     measurement_plugins:
       ["cmd_vel", "position", "speed", "map", "right_camera", "left_camera"]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "C3PO"

dc_demos/params/qrcodes_stdout.yaml

@@ -19,8 +19,8 @@ measurement_server:
     save_local_base_path: "$HOME/dc_data/"
     all_base_path: "=robot_name/%Y/%m/%d/%H"
     condition_plugins: ["moving"]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "r2d2"

dc_demos/params/tb3_simulation_influxdb.yaml

@@ -69,8 +69,8 @@ measurement_server:
         # Infrastructure
         "influxdb_health",
       ]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "Turtlebot"

dc_demos/params/tb3_simulation_pgsql_minio.yaml

@@ -78,8 +78,8 @@ measurement_server:
         "rustfs_health",
         "pgsql_health",
       ]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "Turtlebot"

dc_demos/params/tb3_simulation_stdout.yaml

@@ -30,8 +30,8 @@ measurement_server:
   ros__parameters:
     robot_name: "C3PO"
     measurement_plugins: ["cmd_vel", "map", "position", "speed"]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "C3PO"

dc_demos/params/uptime_stdout.yaml

@@ -27,8 +27,8 @@ measurement_server:
       counter: true
       counter_path: "$HOME/run_id"
       uuid: false
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       force_override: false
       robot_name:
         name: robot_name

dc_measurements/include/dc_measurements/measurement.hpp

@@ -423,7 +423,7 @@ class Measurement : public dc_core::Measurement
       addTags(msg);
       addMeasurementName(msg);
       addMeasurementPluginName(msg);
-      addCustomParameters(msg);
+      addCustomKeys(msg);
     }
     if (!msg.data.empty() && msg.data != "null")
     {
@@ -482,9 +482,9 @@ class Measurement : public dc_core::Measurement
     }
   }
 
-  void addCustomParameters(dc_interfaces::msg::StringStamped& msg)
+  void addCustomKeys(dc_interfaces::msg::StringStamped& msg)
   {
-    if (!custom_params_.empty() && (!msg.data.empty() && msg.data != "null"))
+    if (!custom_keys_.empty() && (!msg.data.empty() && msg.data != "null"))
     {
       json data;
       try
@@ -493,9 +493,9 @@ class Measurement : public dc_core::Measurement
       }
       catch (json::parse_error& e)
       {
-        RCLCPP_ERROR_STREAM(logger_, "Error parsing JSON when adding custom parameters: " << data.dump());
+        RCLCPP_ERROR_STREAM(logger_, "Error parsing JSON when adding custom keys: " << data.dump());
       }
-      for (auto& param : custom_params_)
+      for (auto& param : custom_keys_)
       {
         auto key = param["key"].get<std::string>();
         auto value = param["value"].get<std::string>();
@@ -535,7 +535,7 @@ class Measurement : public dc_core::Measurement
                  const std::vector<std::string>& remote_prefixes, const bool& nested, const bool& flatten,
                  const std::string& save_local_base_path, const std::string& all_base_path,
                  const std::string& all_base_path_expanded, const std::string& save_local_base_path_expanded,
-                 const std::string& run_id, const bool& run_id_enabled, const std::vector<json>& custom_params) override
+                 const std::string& run_id, const bool& run_id_enabled, const std::vector<json>& custom_keys) override
   {
     node_ = parent;
     auto node = node_.lock();
@@ -569,7 +569,7 @@ class Measurement : public dc_core::Measurement
     save_local_base_path_expanded_ = save_local_base_path_expanded;
     run_id_ = run_id;
     run_id_enabled_ = run_id_enabled;
-    custom_params_ = custom_params;
+    custom_keys_ = custom_keys;
 
     condition_max_measurements_ = condition_max_measurements;
     if_all_conditions_ = if_all_conditions;
@@ -665,8 +665,8 @@ class Measurement : public dc_core::Measurement
   bool run_id_enabled_;
   std::string run_id_;
 
-  // Custom params
-  std::vector<json> custom_params_;
+  // Custom keys
+  std::vector<json> custom_keys_;
 
   // Parameters
   bool init_collect_;

dc_measurements/include/dc_measurements/measurement_server.hpp

@@ -83,7 +83,7 @@ class MeasurementServer : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& state) override;
 
   void setRunId();
-  void setCustomParameters();
+  void setCustomKeys();
   void setBaseSavePath();
 
   std::shared_ptr<tf2_ros::Buffer> tf_;
@@ -99,9 +99,9 @@ class MeasurementServer : public nav2_util::LifecycleNode
   bool run_id_counter_;
   bool run_id_uuid_;
 
-  // Custom parameters
-  std::vector<std::string> custom_str_params_list_;
-  std::vector<json> custom_params_;
+  // Custom keys
+  std::vector<std::string> custom_key_str_list_;
+  std::vector<json> custom_keys_;
 
   // std::vector<std::string> measurement_plugins_;
   std::vector<std::string> measurement_group_key_;
@@ -129,9 +129,9 @@ class MeasurementServer : public nav2_util::LifecycleNode
   std::string save_local_base_path_expanded_;
   std::string all_base_path_;
   std::string all_base_path_expanded_;
-  std::vector<std::string> measurement_custom_str_params_;
-  std::map<std::string, std::string> custom_str_params_map_;
-  bool custom_str_params_force_override_;
+  std::vector<std::string> measurement_custom_keys_str_;
+  std::map<std::string, std::string> custom_keys_str_map_;
+  bool custom_keys_str_force_override_;
 
   // Conditions
   std::map<std::string, std::shared_ptr<dc_core::Condition>> conditions_;

dc_measurements/src/measurement_server.cpp

@@ -24,43 +24,42 @@ void MeasurementServer::setBaseSavePath()
   save_local_base_path_expanded_ = dc_util::expand_values(save_local_base_path_expanded_, this);
   RCLCPP_INFO(get_logger(), "Base save path expanded to %s", save_local_base_path_expanded_.c_str());
   all_base_path_expanded_ = dc_util::expand_env(all_base_path_);
-  all_base_path_expanded_ = dc_util::expand_values(all_base_path_expanded_, this, "custom_str_params.", ".value");
+  all_base_path_expanded_ = dc_util::expand_values(all_base_path_expanded_, this, "custom_keys_str.", ".value");
   RCLCPP_INFO(get_logger(), "All Base path expanded to %s", all_base_path_expanded_.c_str());
 }
 
-void MeasurementServer::setCustomParameters()
+void MeasurementServer::setCustomKeys()
 {
-  // Declared for override parity with the per-parameter custom_str_params.<name>.force_override
-  // below; not consumed here (each custom param's own force_override is what's actually read).
-  dc_util::get_bool_type_param(this, "custom_str_params", "force_override", false);
-  custom_str_params_list_ = dc_util::get_str_array_param(this, "custom_str_params_list", std::vector<std::string>());
+  // Declared for override parity with the per-parameter custom_keys_str.<name>.force_override
+  // below; not consumed here (each custom key's own force_override is what's actually read).
+  dc_util::get_bool_type_param(this, "custom_keys_str", "force_override", false);
+  custom_key_str_list_ = dc_util::get_str_array_param(this, "custom_key_str_list", std::vector<std::string>());
 
-  for (auto param = std::begin(measurement_custom_str_params_); param != std::end(measurement_custom_str_params_);
-       ++param)
+  for (auto param = std::begin(measurement_custom_keys_str_); param != std::end(measurement_custom_keys_str_); ++param)
   {
-    custom_str_params_map_[*param] = dc_util::get_str_param(this, *param, "");
+    custom_keys_str_map_[*param] = dc_util::get_str_param(this, *param, "");
   }
 
-  custom_params_.resize(custom_str_params_list_.size());
+  custom_keys_.resize(custom_key_str_list_.size());
 
-  for (size_t i = 0; i < custom_str_params_list_.size(); i++)
+  for (size_t i = 0; i < custom_key_str_list_.size(); i++)
   {
-    auto custom_param = custom_str_params_list_[i];
-    std::string custom_param_ns = "custom_str_params." + custom_param;
-    std::string key = dc_util::get_str_type_param(this, custom_param_ns, "name", "");
-    std::string value = dc_util::get_str_type_param(this, custom_param_ns, "value", "");
-    std::string value_from_file = dc_util::get_str_type_param(this, custom_param_ns, "value_from_file", "");
-    bool force_override = dc_util::get_bool_type_param(this, custom_param_ns, "force_override", false);
-
-    custom_params_[i]["key"] = key;
-    custom_params_[i]["override"] = force_override;
+    auto custom_key = custom_key_str_list_[i];
+    std::string custom_key_ns = "custom_keys_str." + custom_key;
+    std::string key = dc_util::get_str_type_param(this, custom_key_ns, "name", "");
+    std::string value = dc_util::get_str_type_param(this, custom_key_ns, "value", "");
+    std::string value_from_file = dc_util::get_str_type_param(this, custom_key_ns, "value_from_file", "");
+    bool force_override = dc_util::get_bool_type_param(this, custom_key_ns, "force_override", false);
+
+    custom_keys_[i]["key"] = key;
+    custom_keys_[i]["override"] = force_override;
     if (!value.empty())
     {
-      custom_params_[i]["value"] = value;
+      custom_keys_[i]["value"] = value;
     }
     else if (!value_from_file.empty())
     {
-      custom_params_[i]["value"] = dc_util::get_file_content(value_from_file);
+      custom_keys_[i]["value"] = dc_util::get_file_content(value_from_file);
     }
   }
 }
@@ -129,7 +128,7 @@ nav2_util::CallbackReturn MeasurementServer::on_configure(const rclcpp_lifecycle
   RCLCPP_INFO(get_logger(), "Configuring");
   auto node = shared_from_this();
   setRunId();
-  setCustomParameters();
+  setCustomKeys();
   setBaseSavePath();
 
   tf_ = std::make_shared<tf2_ros::Buffer>(get_clock());
@@ -281,7 +280,7 @@ bool MeasurementServer::loadMeasurementPlugins()
           measurement_if_all_conditions_[i], measurement_if_any_conditions_[i], measurement_if_none_conditions_[i],
           measurement_gate_condition_[i], measurement_remote_keys_[i], measurement_remote_prefixes_[i],
           measurement_nested_[i], measurement_flatten_[i], save_local_base_path_, all_base_path_,
-          all_base_path_expanded_, save_local_base_path_expanded_, run_id_, run_id_enabled_, custom_params_);
+          all_base_path_expanded_, save_local_base_path_expanded_, run_id_, run_id_enabled_, custom_keys_);
     }
     catch (const pluginlib::PluginlibException& ex)
     {

doc/src/dc/demos/qrcodes_minio_pgsql.md

@@ -136,11 +136,11 @@ group_server:
 
 measurement_server:
   ros__parameters:
-    custom_str_params: ["robot_name"]
+    custom_keys_str: ["robot_name"]
     robot_name: "C3PO"
     measurement_plugins: ["cmd_vel", "position", "speed"]
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "C3PO"
@@ -289,8 +289,8 @@ measurement_server:
   ...
   measurement_plugins: ["cmd_vel", "position", "speed", "map", "right_camera", "left_camera"]
   condition_plugins: ["moving", "inspected_exists"]
-  custom_str_params_list: ["robot_name", "id"]
-  custom_str_params:
+  custom_key_str_list: ["robot_name", "id"]
+  custom_keys_str:
     robot_name:
       name: robot_name
       value: "C3PO"

doc/src/dc/demos/tb3_stdout.md

@@ -135,7 +135,7 @@ This record contains the map data from the measurement.
 ```yaml
 measurement_server:
   ros__parameters:
-    custom_str_params: ["robot_name"]
+    custom_keys_str: ["robot_name"]
     robot_name: "C3PO"
     measurement_plugins: ["cmd_vel", "map", "position", "speed"]
     run_id:
@@ -178,7 +178,7 @@ measurement_server:
 
 **save_local_base_path (Optional)**: Used as a common base for all saved files from measurement plugins. *all_base_path* is concatenated to it afterwards for defining the path where files are saved.
 
-**all_base_path (Optional)**: Used as a common base for some measurements to save files. Is concatenated to *save_local_base_path*. Note the =robot_name, which is later replaced by C3PO (the variable defined in custom_str_params)
+**all_base_path (Optional)**: Used as a common base for some measurements to save files. Is concatenated to *save_local_base_path*. Note the =robot_name, which is later replaced by C3PO (the variable defined in custom_keys_str)
 
 **map.remote_keys**: creates a dictionary inside **remote_paths** which is named by the strings in this field — each name must match a `receives: files` Destination in the `dc_bridge` block below, so the Bridge's Uploader knows where to send the file.
 
@@ -225,8 +225,8 @@ dc_bridge:
 
 measurement_server:
   ros__parameters:
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: "C3PO"

doc/src/dc/demos/uptime_stdout.md

@@ -33,8 +33,8 @@ measurement_server:
       enable_validator: true
       debug: true
       init_collect: true
-    custom_str_params_list: ["robot_name", "id"]
-    custom_str_params:
+    custom_key_str_list: ["robot_name", "id"]
+    custom_keys_str:
       robot_name:
         name: robot_name
         value: C3PO
@@ -74,17 +74,17 @@ This will collect the uptime every 5 seconds (including when the node starts), w
 
 Here, we want to append some content in every record: the robot name and its ID. While the robot name comes from a fixed variable in the parameter file, the id comes from the machine-id file.
 
-**custom_str_params_list (Optional)**: Look for those keys in this configuration to add them as keys and values in each record.
+**custom_key_str_list (Optional)**: Look for those keys in this configuration to add them as keys and values in each record.
 
-**custom_str_params.robot_name (Optional)**: This parameter is loaded since it is mentioned in custom_str_params_list
+**custom_keys_str.robot_name (Optional)**: This parameter is loaded since it is mentioned in custom_key_str_list
 
-**custom_str_params.robot_name.name (Optional)**: Key in the dictionary to add
+**custom_keys_str.robot_name.name (Optional)**: Key in the dictionary to add
 
-**custom_str_params.robot_name.value (Optional)**: Value associated to the key in the dictionary to add
+**custom_keys_str.robot_name.value (Optional)**: Value associated to the key in the dictionary to add
 
-**custom_str_params.id.name (Optional)**: Key in the dictionary to add
+**custom_keys_str.id.name (Optional)**: Key in the dictionary to add
 
-**custom_str_params.id.value_from_file (Optional)**: Value associated to the key in the dictionary to add taken from the content of a file
+**custom_keys_str.id.value_from_file (Optional)**: Value associated to the key in the dictionary to add taken from the content of a file
 
 
 ```admonish info