From e1b7977178e82acb9776ba3136ec261b2a6e7b8f Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@openrobotics.org>
Date: Thu, 6 Jan 2022 15:35:54 -0500
Subject: [PATCH] Fix how ros2 param interprets command-line arguments. (#684)

* Fix how ros2 param interprets command-line arguments.

Basically ensure that we are *always* using the parsed yaml
string, so that users can override types as appropriate.
This makes it possible for users to specify something like:

ros2 param set /node param '!!str off'

for force a string to be "off" as opposed to having YAML
intepret it as a boolean.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
---
 ros2param/ros2param/api/__init__.py |  6 ++----
 ros2param/test/test_api.py          | 22 ++++++++++++++++++++++
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/ros2param/ros2param/api/__init__.py b/ros2param/ros2param/api/__init__.py
index 3b91e03c0..9ae41f03e 100644
--- a/ros2param/ros2param/api/__init__.py
+++ b/ros2param/ros2param/api/__init__.py
@@ -62,9 +62,7 @@ def get_parameter_value(*, string_value):
     try:
         yaml_value = yaml.safe_load(string_value)
     except yaml.parser.ParserError:
-        value.type = ParameterType.PARAMETER_STRING
-        value.string_value = string_value
-        return value
+        yaml_value = string_value
 
     if isinstance(yaml_value, bool):
         value.type = ParameterType.PARAMETER_BOOL
@@ -93,7 +91,7 @@ def get_parameter_value(*, string_value):
             value.string_value = string_value
     else:
         value.type = ParameterType.PARAMETER_STRING
-        value.string_value = string_value
+        value.string_value = yaml_value
     return value
 
 
diff --git a/ros2param/test/test_api.py b/ros2param/test/test_api.py
index 6da0ce882..8144539ca 100644
--- a/ros2param/test/test_api.py
+++ b/ros2param/test/test_api.py
@@ -66,6 +66,28 @@
             'string_value',
             '["foo", "bar", "buzz"',
         ),
+        (
+            # With 'off', YAML interprets this as a bool
+            'off',
+            ParameterType.PARAMETER_BOOL,
+            'bool_value',
+            False
+        ),
+        (
+            # With !!str, text that would otherwise be a bool is a string
+            '!!str off',
+            ParameterType.PARAMETER_STRING,
+            'string_value',
+            'off'
+        ),
+        (
+            # While YAML supports a mixed-type list, ROS 2 parameters do not,
+            # so these end up being strings
+            '[true,0.1,1]',
+            ParameterType.PARAMETER_STRING,
+            'string_value',
+            '[true,0.1,1]'
+        ),
     ],
 )
 def test_get_parameter_value(