449 lines
16 KiB
C++
449 lines
16 KiB
C++
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <yaml.h>
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#include <string>
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#include <vector>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "../src/impl/parse.h"
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#include "../src/impl/node_params.h"
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#include "rcutils/filesystem.h"
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TEST(TestParse, parse_value) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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yaml_event_t event;
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event.type = YAML_NO_EVENT;
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event.start_mark = {0u, 0u, 0u};
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event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
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bool is_seq = false;
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size_t node_idx = 0u;
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size_t parameter_idx = 0u;
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data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
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rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
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ASSERT_NE(nullptr, params_st);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_node_struct_fini(params_st);
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});
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ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
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params_st->num_nodes = 1u;
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// bool value
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yaml_char_t bool_value[] = "true";
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const size_t bool_value_length = sizeof(bool_value) / sizeof(bool_value[0]);
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event.data.scalar.value = bool_value;
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event.data.scalar.length = bool_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].bool_value);
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EXPECT_TRUE(*params_st->params[node_idx].parameter_values[parameter_idx].bool_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].bool_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].bool_value = nullptr;
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// integer value
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yaml_char_t integer_value[] = "42";
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const size_t integer_value_length = sizeof(integer_value) / sizeof(integer_value[0]);
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event.data.scalar.value = integer_value;
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event.data.scalar.length = integer_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_value);
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EXPECT_EQ(42, *params_st->params[node_idx].parameter_values[parameter_idx].integer_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].integer_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].integer_value = nullptr;
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// double value
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yaml_char_t double_value[] = "3.14159";
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const size_t double_value_length = sizeof(double_value) / sizeof(double_value[0]);
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event.data.scalar.value = double_value;
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event.data.scalar.length = double_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].double_value);
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EXPECT_EQ(3.14159, *params_st->params[node_idx].parameter_values[parameter_idx].double_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].double_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].double_value = nullptr;
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// double value
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yaml_char_t string_value[] = "hello, I am a string";
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const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
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event.data.scalar.value = string_value;
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event.data.scalar.length = string_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].string_value);
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EXPECT_STREQ(
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"hello, I am a string",
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params_st->params[node_idx].parameter_values[parameter_idx].string_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].string_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].string_value = nullptr;
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}
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TEST(TestParse, parse_value_sequence) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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yaml_event_t event;
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event.type = YAML_NO_EVENT;
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event.start_mark = {0u, 0u, 0u};
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event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
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bool is_seq = true;
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size_t node_idx = 0u;
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size_t parameter_idx = 0u;
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data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
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rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
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ASSERT_NE(nullptr, params_st);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_node_struct_fini(params_st);
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});
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ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
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params_st->num_nodes = 1u;
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// bool array value
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yaml_char_t bool_value[] = "true";
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const size_t bool_value_length = sizeof(bool_value) / sizeof(bool_value[0]);
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event.data.scalar.value = bool_value;
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event.data.scalar.length = bool_value_length;
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// Check bad sequence type for bool
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seq_data_type = DATA_TYPE_STRING;
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EXPECT_EQ(
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RCUTILS_RET_ERROR,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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EXPECT_EQ(
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nullptr,
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
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// Check proper sequence type
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seq_data_type = DATA_TYPE_UNKNOWN;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value);
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EXPECT_TRUE(
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params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value->values[0]);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value->values,
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allocator.state);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value = nullptr;
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// integer array value
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yaml_char_t integer_value[] = "42";
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const size_t integer_value_length = sizeof(integer_value) / sizeof(integer_value[0]);
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event.data.scalar.value = integer_value;
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event.data.scalar.length = integer_value_length;
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// Check bad sequence type for int
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seq_data_type = DATA_TYPE_STRING;
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EXPECT_EQ(
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RCUTILS_RET_ERROR,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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EXPECT_EQ(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
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// Check proper sequence type
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seq_data_type = DATA_TYPE_UNKNOWN;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(
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nullptr,
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
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EXPECT_EQ(
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42,
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value->values[0]);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value->values,
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allocator.state);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value,
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allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value = nullptr;
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// double value
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yaml_char_t double_value[] = "3.14159";
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const size_t double_value_length = sizeof(double_value) / sizeof(double_value[0]);
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event.data.scalar.value = double_value;
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event.data.scalar.length = double_value_length;
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// Check bad sequence type for double
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seq_data_type = DATA_TYPE_STRING;
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EXPECT_EQ(
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RCUTILS_RET_ERROR,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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EXPECT_EQ(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
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// Check proper sequence type
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seq_data_type = DATA_TYPE_UNKNOWN;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].double_array_value);
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EXPECT_EQ(
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3.14159,
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params_st->params[node_idx].parameter_values[parameter_idx].double_array_value->values[0]);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].double_array_value->values,
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allocator.state);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].double_array_value,
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allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].double_array_value = nullptr;
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// double value
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yaml_char_t string_value[] = "hello, I am a string";
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const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
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event.data.scalar.value = string_value;
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event.data.scalar.length = string_value_length;
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// Check bad sequence type for string
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seq_data_type = DATA_TYPE_BOOL;
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EXPECT_EQ(
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RCUTILS_RET_ERROR,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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EXPECT_EQ(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
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// Check proper sequence type
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seq_data_type = DATA_TYPE_UNKNOWN;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(
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nullptr, params_st->params[node_idx].parameter_values[parameter_idx].string_array_value);
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EXPECT_STREQ(
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"hello, I am a string",
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params_st->params[node_idx].parameter_values[parameter_idx].string_array_value->data[0]);
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EXPECT_EQ(
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RCUTILS_RET_OK,
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rcutils_string_array_fini(
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params_st->params[node_idx].parameter_values[parameter_idx].string_array_value)) <<
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rcutils_get_error_string().str;
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].string_array_value,
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allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].string_array_value = nullptr;
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}
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TEST(TestParse, parse_value_bad_args) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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yaml_event_t event;
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event.type = YAML_NO_EVENT;
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event.start_mark = {0u, 0u, 0u};
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event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
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bool is_seq = false;
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size_t node_idx = 0u;
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size_t parameter_idx = 0u;
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data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
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rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
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ASSERT_NE(nullptr, params_st);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_node_struct_fini(params_st);
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});
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EXPECT_EQ(
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RCUTILS_RET_INVALID_ARGUMENT,
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parse_value(event, is_seq, node_idx, parameter_idx, nullptr, params_st));
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EXPECT_TRUE(rcutils_error_is_set());
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rcutils_reset_error();
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EXPECT_EQ(
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RCUTILS_RET_INVALID_ARGUMENT,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, nullptr));
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EXPECT_TRUE(rcutils_error_is_set());
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rcutils_reset_error();
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// No node to update
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const size_t num_nodes = params_st->num_nodes;
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params_st->num_nodes = 0u;
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EXPECT_EQ(
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RCUTILS_RET_INVALID_ARGUMENT,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st));
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EXPECT_TRUE(rcutils_error_is_set());
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rcutils_reset_error();
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params_st->num_nodes = num_nodes;
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||
|
|
|
||
|
|
ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
|
||
|
|
params_st->num_nodes = 1u;
|
||
|
|
|
||
|
|
// event.data.scalar.value is NULL, but event.data.scalar.length > 0
|
||
|
|
event.data.scalar.value = NULL;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||
|
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st));
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// event.data.scalar.length is 0 and style is not a QUOTED_SCALAR_STYLE
|
||
|
|
event.data.scalar.length = 0u;
|
||
|
|
yaml_char_t event_value[] = "non_empty_string";
|
||
|
|
const size_t event_value_length = sizeof(event_value) / sizeof(event_value[0]);
|
||
|
|
event.data.scalar.value = event_value;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_ERROR,
|
||
|
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// parameter_values is NULL
|
||
|
|
event.data.scalar.length = event_value_length;
|
||
|
|
rcl_variant_t * tmp_variant_array = params_st->params[0].parameter_values;
|
||
|
|
params_st->params[0].parameter_values = NULL;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_BAD_ALLOC,
|
||
|
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
params_st->params[0].parameter_values = tmp_variant_array;
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(TestParse, parse_key_bad_args)
|
||
|
|
{
|
||
|
|
yaml_event_t event;
|
||
|
|
event.type = YAML_NO_EVENT;
|
||
|
|
event.start_mark = {0u, 0u, 0u};
|
||
|
|
|
||
|
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||
|
|
uint32_t map_level = MAP_NODE_NAME_LVL;
|
||
|
|
bool is_new_map = false;
|
||
|
|
size_t node_idx = 0;
|
||
|
|
size_t parameter_idx = 0;
|
||
|
|
namespace_tracker_t ns_tracker;
|
||
|
|
|
||
|
|
rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
|
||
|
|
ASSERT_NE(nullptr, params_st);
|
||
|
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||
|
|
{
|
||
|
|
rcl_yaml_node_struct_fini(params_st);
|
||
|
|
});
|
||
|
|
|
||
|
|
ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
|
||
|
|
params_st->num_nodes = 1u;
|
||
|
|
|
||
|
|
// map_level is nullptr
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||
|
|
parse_key(event, nullptr, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// params_st is nullptr
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||
|
|
parse_key(event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, nullptr)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// event.data.scalar.value is nullptr
|
||
|
|
event.data.scalar.value = nullptr;
|
||
|
|
event.data.scalar.length = 1u;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||
|
|
parse_key(
|
||
|
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
yaml_char_t string_value[] = "key_name";
|
||
|
|
const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
|
||
|
|
|
||
|
|
// event.data.scalar.length is 0
|
||
|
|
event.data.scalar.value = string_value;
|
||
|
|
event.data.scalar.length = 0u;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_ERROR,
|
||
|
|
parse_key(
|
||
|
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
event.data.scalar.length = string_value_length;
|
||
|
|
|
||
|
|
// map_level is MAP_UNINIT_LVL
|
||
|
|
map_level = MAP_UNINIT_LVL;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_ERROR,
|
||
|
|
parse_key(
|
||
|
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// map_level is not a valid value
|
||
|
|
map_level = 42;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_ERROR,
|
||
|
|
parse_key(
|
||
|
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
|
||
|
|
// previous parameter names required for parameter namespace
|
||
|
|
map_level = MAP_PARAMS_LVL;
|
||
|
|
is_new_map = true;
|
||
|
|
params_st->params[0].parameter_names[0] = nullptr;
|
||
|
|
EXPECT_EQ(
|
||
|
|
RCUTILS_RET_ERROR,
|
||
|
|
parse_key(
|
||
|
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||
|
|
rcutils_get_error_string().str;
|
||
|
|
EXPECT_TRUE(rcutils_error_is_set());
|
||
|
|
rcutils_reset_error();
|
||
|
|
}
|