feat(deployment): adds support for paramsync in device deployments

rapyuta-robotics · Sep 6, 2023 · e5cf0ff · e5cf0ff
1 parent 69b7ad1
commit e5cf0ff
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Showing 3 changed files with 52 additions and 27 deletions.
diff --git a/riocli/apply/manifests/deployment-ros-device-no-rosbag.yaml b/riocli/apply/manifests/deployment-ros-device-no-rosbag.yaml
@@ -16,6 +16,13 @@ spec:
       kind: device
       nameOrGUID: device-docker
   restart: always # Options: [always, onfailure, never]
+  features:
+    params:
+      enabled: true
+      trees:
+        - config01
+        - config02
+      disableSync: false
   envArgs:
     - name: TEST_KEY
       value: test_value

diff --git a/riocli/deployment/model.py b/riocli/deployment/model.py
@@ -72,8 +72,8 @@ def create_object(self, client: Client, **kwargs) -> typing.Any:
 
         if 'runtime' in self.spec and runtime != self.spec.runtime:
             raise Exception('>> runtime mismatch => deployment:{}.runtime !== package:{}.runtime '.format(
-                    self.metadata.name, pkg['packageName']
-                ))
+                self.metadata.name, pkg['packageName']
+            ))
 
         provision_config = pkg.get_provision_configuration(plan_id)
 
@@ -160,31 +160,6 @@ def create_object(self, client: Client, **kwargs) -> typing.Any:
                         "instance": "rio-internal-headscale"
                     }]
 
-                if 'params' in self.spec.features and self.spec.features.params.enabled:
-                    component_id = internal_component.componentId
-                    tree_names = self.spec.features.params.get('trees', [])
-                    disable_sync = self.spec.features.params.get('disableSync',
-                                                                 False)
-
-                    args = []
-                    for e in executables:
-                        args.append({
-                            'executableId': e['id'],
-                            'paramTreeNames': tree_names,
-                            'enableParamSync': not disable_sync
-                        })
-
-                    context = provision_config.context
-                    if 'component_context' not in context:
-                        context['component_context'] = {}
-
-                    component_context = context['component_context']
-                    if component_id not in component_context:
-                        component_context[component_id] = {}
-
-                    component_context[component_id][
-                        'param_sync_exec_args'] = args
-
         if self.spec.runtime == 'device':
             device_guid, device = self.rc.find_depends(
                 self.spec.device.depends)
@@ -214,6 +189,32 @@ def create_object(self, client: Client, **kwargs) -> typing.Any:
                 provision_config = add_mount_volume_provision_config(
                     provision_config, component_name, device, exec_mounts)
 
+        if 'features' in self.spec:
+            if 'params' in self.spec.features and self.spec.features.params.enabled:
+                component_id = internal_component.componentId
+                tree_names = self.spec.features.params.get('trees', [])
+                disable_sync = self.spec.features.params.get('disableSync',
+                                                             False)
+
+                args = []
+                for e in executables:
+                    args.append({
+                        'executableId': e['id'],
+                        'paramTreeNames': tree_names,
+                        'enableParamSync': not disable_sync
+                    })
+
+                context = provision_config.context
+                if 'component_context' not in context:
+                    context['component_context'] = {}
+
+                component_context = context['component_context']
+                if component_id not in component_context:
+                    component_context[component_id] = {}
+
+                component_context[component_id][
+                    'param_sync_exec_args'] = args
+
         provision_config.set_component_alias(component_name,
                                              self.metadata.name)
 

diff --git a/riocli/jsonschema/schemas/deployment-schema.yaml b/riocli/jsonschema/schemas/deployment-schema.yaml
@@ -164,6 +164,23 @@ definitions:
                 items:
                   "$ref": "#/definitions/deviceROSBagJobSpec"
 
+              features:
+                type: object
+                properties:
+                  params:
+                    type: object
+                    properties:
+                      enabled:
+                        type: boolean
+                      trees:
+                        type: array
+                        items:
+                          type: string
+                      disableSync:
+                        type: boolean
+                    required:
+                      - enabled
+
           - properties:
               runtime:
                 type: string