Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Enable incremental parameter yaml file parsing. #507

Merged
merged 1 commit into from
Sep 24, 2019
Merged

Enable incremental parameter yaml file parsing. #507

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
49 changes: 23 additions & 26 deletions rcl_yaml_param_parser/src/parser.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,8 @@ static rcutils_ret_t parse_key(
const yaml_event_t event,
uint32_t * map_level,
bool * is_new_map,
size_t * node_idx,
size_t * parameter_idx,
namespace_tracker_t * ns_tracker,
rcl_params_t * params_st);

Expand Down Expand Up @@ -1295,6 +1297,8 @@ static rcutils_ret_t parse_key(
const yaml_event_t event,
uint32_t * map_level,
bool * is_new_map,
size_t * node_idx,
size_t * parameter_idx,
namespace_tracker_t * ns_tracker,
rcl_params_t * params_st)
{
Expand Down Expand Up @@ -1323,11 +1327,6 @@ static rcutils_ret_t parse_key(
}
}

size_t node_idx = 0U;
size_t num_nodes = params_st->num_nodes;
if (num_nodes > 0U) {
node_idx = num_nodes - 1U;
}
rcutils_ret_t ret = RCUTILS_RET_OK;
switch (*map_level) {
case MAP_UNINIT_LVL:
Expand Down Expand Up @@ -1359,37 +1358,31 @@ static rcutils_ret_t parse_key(
ret = RCUTILS_RET_BAD_ALLOC;
break;
}
params_st->node_names[num_nodes] = node_name_ns;

ret = rem_name_from_ns(ns_tracker, NS_TYPE_NODE, allocator);
ret = find_node(node_name_ns, params_st, node_idx);
if (RCUTILS_RET_OK != ret) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
ivanpauno marked this conversation as resolved.
Show resolved Hide resolved
"Internal error adding node namespace at line %d", line_num);
break;
}
ret = node_params_init(&(params_st->params[num_nodes]), allocator);

ret = rem_name_from_ns(ns_tracker, NS_TYPE_NODE, allocator);
if (RCUTILS_RET_OK != ret) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error creating node parameter at line %d", line_num);
"Internal error adding node namespace at line %d", line_num);
break;
}
params_st->num_nodes++;
/// Bump the map level to PARAMS
(*map_level)++;
}
}
break;
case MAP_PARAMS_LVL:
{
size_t parameter_idx;
char * parameter_ns;
char * param_name;

/// If it is a new map, the previous key is param namespace
if (true == *is_new_map) {
params_st->params[node_idx].num_params--;
parameter_idx = params_st->params[node_idx].num_params;
parameter_ns = params_st->params[node_idx].parameter_names[parameter_idx];
parameter_ns = params_st->params[*node_idx].parameter_names[*parameter_idx];
if (NULL == parameter_ns) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Internal error creating param namespace at line %d", line_num);
Expand All @@ -1408,7 +1401,7 @@ static rcutils_ret_t parse_key(
}

// Guard against adding more than the maximum allowed parameters
if (params_st->params[node_idx].num_params >= MAX_NUM_PARAMS_PER_NODE) {
if (params_st->params[*node_idx].num_params >= MAX_NUM_PARAMS_PER_NODE) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Exceeded maximum allowed number of parameters for a node (%d)",
MAX_NUM_PARAMS_PER_NODE);
Expand All @@ -1417,15 +1410,18 @@ static rcutils_ret_t parse_key(
}

/// Add a parameter name into the node parameters
parameter_idx = params_st->params[node_idx].num_params;
parameter_ns = ns_tracker->parameter_ns;
if (NULL == parameter_ns) {
param_name = rcutils_strdup(value, allocator);
if (NULL == param_name) {
ret = RCUTILS_RET_BAD_ALLOC;
ret = find_parameter(*node_idx, value, params_st, parameter_idx);
if (ret != RCUTILS_RET_OK) {
break;
}
} else {
ret = find_parameter(*node_idx, parameter_ns, params_st, parameter_idx);
if (ret != RCUTILS_RET_OK) {
break;
}

const size_t params_ns_len = strlen(parameter_ns);
const size_t param_name_len = strlen(value);
const size_t tot_len = (params_ns_len + param_name_len + 2U);
Expand All @@ -1447,9 +1443,9 @@ static rcutils_ret_t parse_key(
param_name[params_ns_len] = '.';
memmove((param_name + params_ns_len + 1U), value, param_name_len);
param_name[tot_len - 1U] = '\0';

params_st->params[*node_idx].parameter_names[*parameter_idx] = param_name;
}
params_st->params[node_idx].parameter_names[parameter_idx] = param_name;
params_st->params[node_idx].num_params++;
}
break;
default:
Expand Down Expand Up @@ -1484,6 +1480,8 @@ static rcutils_ret_t parse_file_events(
&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);

yaml_event_t event;
size_t node_idx = 0;
size_t parameter_idx = 0;
rcutils_ret_t ret = RCUTILS_RET_OK;
while (0 == done_parsing) {
if (RCUTILS_RET_OK != ret) {
Expand All @@ -1506,7 +1504,8 @@ static rcutils_ret_t parse_file_events(
{
/// Need to toggle between key and value at params level
if (true == is_key) {
ret = parse_key(event, &map_level, &is_new_map, ns_tracker, params_st);
ret = parse_key(
event, &map_level, &is_new_map, &node_idx, &parameter_idx, ns_tracker, params_st);
if (RCUTILS_RET_OK != ret) {
break;
}
Expand All @@ -1525,14 +1524,12 @@ static rcutils_ret_t parse_file_events(
yaml_event_delete(&event);
return RCUTILS_RET_ERROR;
}
const size_t node_idx = (params_st->num_nodes - 1U);
if (0U == params_st->params[node_idx].num_params) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
yaml_event_delete(&event);
return RCUTILS_RET_ERROR;
}
const size_t parameter_idx = (params_st->params[node_idx].num_params - 1U);
ret = parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
if (RCUTILS_RET_OK != ret) {
break;
Expand Down
13 changes: 13 additions & 0 deletions rcl_yaml_param_parser/test/overlay.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
# config/test_yaml
---

lidar_ns:
lidar_2:
ros__parameters:
is_back: true
camera:
ros__parameters:
loc: back
intel:
ros__parameters:
num_cores: 12
33 changes: 30 additions & 3 deletions rcl_yaml_param_parser/test/test_parse_yaml.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,15 @@ TEST(test_parser, correct_syntax) {
bool res = rcl_parse_yaml_file(path, params_hdl);
ASSERT_TRUE(res) << rcutils_get_error_string().str;

char * another_path = rcutils_join_path(test_path, "overlay.yaml", allocator);
ASSERT_TRUE(NULL != another_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(another_path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(another_path)) << "No test YAML file found at " << another_path;
res = rcl_parse_yaml_file(another_path, params_hdl);
ASSERT_TRUE(res) << rcutils_get_error_string().str;

rcl_params_t * copy_of_params_hdl = rcl_yaml_node_struct_copy(params_hdl);
ASSERT_TRUE(NULL != copy_of_params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
Expand All @@ -59,11 +68,11 @@ TEST(test_parser, correct_syntax) {
rcl_variant_t * param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "is_back", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_FALSE(*param_value->bool_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "true", params);
EXPECT_TRUE(*param_value->bool_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "false", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_TRUE(*param_value->bool_value);
EXPECT_FALSE(*param_value->bool_value);

param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "id", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
Expand All @@ -74,6 +83,15 @@ TEST(test_parser, correct_syntax) {
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(12, *param_value->integer_value);

param_value = rcl_yaml_node_struct_get("camera", "loc", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("back", param_value->string_value);
res = rcl_parse_yaml_value("camera", "loc", "front", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("front", param_value->string_value);

param_value = rcl_yaml_node_struct_get("camera", "cam_spec.angle", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_value);
Expand All @@ -83,6 +101,15 @@ TEST(test_parser, correct_syntax) {
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);

param_value = rcl_yaml_node_struct_get("intel", "num_cores", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(12, *param_value->integer_value);
res = rcl_parse_yaml_value("intel", "num_cores", "8", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(8, *param_value->integer_value);

param_value = rcl_yaml_node_struct_get("intel", "arch", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
Expand Down