From my controllers, I access the application parameters (those in /app/config) with

$this->container->getParameter('my_param')

But I don't know how to access it from a service (I imagine my service class is not supposed to extend Symfony\Bundle\FrameworkBundle\Controller\Controller).

Should I map needed parameters into my service registration like this:

#src/Me/MyBundle/Service/my_service/service.yml
parameters:
    my_param1: %my_param1%
    my_param2: %my_param2%
    my_param3: %my_param3%

or something similar? How should I access to my application parameters from a service?

This question seems like the same but mine actually answers to it (parameters from a controller), I'm talking about accessing from a service.

The Clean Way 2018

Since 2018 and Symfony 3.4 there is much cleaner way - easy to setup and use.

Instead of using container and service/parameter locator anti-pattern, you can pass parameters to class via it's constructor. Don't worry, it's not time-demanding work, but rather setup once & forget approach.

How to set it up in 2 steps?

1. config.yml

# config.yml
parameters:
    api_pass: 'secret_password'
    api_user: 'my_name'

services:
    _defaults:
        autowire: true
        bind:
            $apiPass: '%api_pass%'
            $apiUser: '%api_user%'

    App\:
        resource: ..

2. Any Controller

<?php declare(strict_types=1);

final class ApiController extends SymfonyController
{
    /**
     * @var string 
     */
    private $apiPass;

    /**
     * @var string
     */
    private $apiUser;

    public function __construct(string $apiPass, string $apiUser)
    {
        $this->apiPass = $apiPass;
        $this->apiUser = $apiUser;
    }

    public function registerAction(): void
    {
        var_dump($this->apiPass); // "secret_password"
        var_dump($this->apiUser); // "my_name"
    }
}

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Read More

This is called constructor injection over services locator approach.

To read more about this, check my post How to Get Parameter in Symfony Controller the Clean Way.

(It's tested and I keep it updated for new Symfony major version (5, 6...)).