* Refactor parser.c for better testability (#754) * Refactor rcl_yaml_param_parser for better testability Signed-off-by: Stephen Brawner <brawner@gmail.com> * Reorder parser.c to match parser.h Signed-off-by: Stephen Brawner <brawner@gmail.com> squash! Reorder parser.c to match parser.h * Refactor yaml_variant.c for deduplication Signed-off-by: Stephen Brawner <brawner@gmail.com> * ADD_VALUE_TO_SIMPLE_ARRAY for deduplication Signed-off-by: Stephen Brawner <brawner@gmail.com> * Remove fprintf Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Move headers to src directory Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Rebase #780 Signed-off-by: Stephen Brawner <brawner@gmail.com> * Missing includes Signed-off-by: Stephen Brawner <brawner@gmail.com>
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14 changed files with 1929 additions and 1601 deletions
193
rcl_yaml_param_parser/src/namespace.c
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193
rcl_yaml_param_parser/src/namespace.c
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// Copyright 2018 Apex.AI, 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 "./impl/namespace.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/strdup.h"
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rcutils_ret_t add_name_to_ns(
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namespace_tracker_t * ns_tracker,
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const char * name,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator)
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{
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char * cur_ns;
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uint32_t * cur_count;
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char * sep_str;
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size_t name_len;
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size_t ns_len;
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size_t sep_len;
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size_t tot_len;
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switch (namespace_type) {
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case NS_TYPE_NODE:
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cur_ns = ns_tracker->node_ns;
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cur_count = &(ns_tracker->num_node_ns);
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sep_str = NODE_NS_SEPERATOR;
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break;
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case NS_TYPE_PARAM:
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cur_ns = ns_tracker->parameter_ns;
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cur_count = &(ns_tracker->num_parameter_ns);
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sep_str = PARAMETER_NS_SEPERATOR;
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break;
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default:
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return RCUTILS_RET_ERROR;
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}
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/// Add a name to ns
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if (NULL == name) {
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return RCUTILS_RET_INVALID_ARGUMENT;
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}
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if (0U == *cur_count) {
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cur_ns = rcutils_strdup(name, allocator);
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if (NULL == cur_ns) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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} else {
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ns_len = strlen(cur_ns);
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name_len = strlen(name);
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sep_len = strlen(sep_str);
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// Check the last sep_len characters of the current NS against the separator string.
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if (strcmp(cur_ns + ns_len - sep_len, sep_str) == 0) {
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// Current NS already ends with the separator: don't put another separator in.
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sep_len = 0;
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sep_str = "";
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}
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tot_len = ns_len + sep_len + name_len + 1U;
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char * tmp_ns_ptr = allocator.reallocate(cur_ns, tot_len, allocator.state);
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if (NULL == tmp_ns_ptr) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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cur_ns = tmp_ns_ptr;
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memcpy((cur_ns + ns_len), sep_str, sep_len);
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memcpy((cur_ns + ns_len + sep_len), name, name_len);
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cur_ns[tot_len - 1U] = '\0';
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}
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*cur_count = (*cur_count + 1U);
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if (NS_TYPE_NODE == namespace_type) {
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ns_tracker->node_ns = cur_ns;
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} else {
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ns_tracker->parameter_ns = cur_ns;
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}
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return RCUTILS_RET_OK;
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}
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rcutils_ret_t rem_name_from_ns(
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namespace_tracker_t * ns_tracker,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator)
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{
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char * cur_ns;
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uint32_t * cur_count;
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char * sep_str;
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size_t ns_len;
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size_t tot_len;
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switch (namespace_type) {
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case NS_TYPE_NODE:
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cur_ns = ns_tracker->node_ns;
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cur_count = &(ns_tracker->num_node_ns);
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sep_str = NODE_NS_SEPERATOR;
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break;
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case NS_TYPE_PARAM:
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cur_ns = ns_tracker->parameter_ns;
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cur_count = &(ns_tracker->num_parameter_ns);
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sep_str = PARAMETER_NS_SEPERATOR;
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break;
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default:
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return RCUTILS_RET_ERROR;
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}
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/// Remove last name from ns
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if (*cur_count > 0U) {
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if (1U == *cur_count) {
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allocator.deallocate(cur_ns, allocator.state);
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cur_ns = NULL;
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} else {
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ns_len = strlen(cur_ns);
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char * last_idx = NULL;
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char * next_str = NULL;
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const char * end_ptr = (cur_ns + ns_len);
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next_str = strstr(cur_ns, sep_str);
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while (NULL != next_str) {
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if (next_str > end_ptr) {
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RCUTILS_SET_ERROR_MSG("Internal error. Crossing array boundary");
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return RCUTILS_RET_ERROR;
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}
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last_idx = next_str;
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next_str = (next_str + strlen(sep_str));
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next_str = strstr(next_str, sep_str);
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}
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if (NULL != last_idx) {
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tot_len = ((size_t)(last_idx - cur_ns) + 1U);
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char * tmp_ns_ptr = allocator.reallocate(cur_ns, tot_len, allocator.state);
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if (NULL == tmp_ns_ptr) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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cur_ns = tmp_ns_ptr;
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cur_ns[tot_len - 1U] = '\0';
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}
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}
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*cur_count = (*cur_count - 1U);
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}
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if (NS_TYPE_NODE == namespace_type) {
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ns_tracker->node_ns = cur_ns;
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} else {
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ns_tracker->parameter_ns = cur_ns;
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}
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return RCUTILS_RET_OK;
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}
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rcutils_ret_t replace_ns(
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namespace_tracker_t * ns_tracker,
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char * const new_ns,
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const uint32_t new_ns_count,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator)
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{
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rcutils_ret_t res = RCUTILS_RET_OK;
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/// Remove the old namespace and point to the new namespace
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switch (namespace_type) {
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case NS_TYPE_NODE:
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if (NULL != ns_tracker->node_ns) {
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allocator.deallocate(ns_tracker->node_ns, allocator.state);
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}
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ns_tracker->node_ns = rcutils_strdup(new_ns, allocator);
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if (NULL == ns_tracker->node_ns) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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ns_tracker->num_node_ns = new_ns_count;
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break;
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case NS_TYPE_PARAM:
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if (NULL != ns_tracker->parameter_ns) {
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allocator.deallocate(ns_tracker->parameter_ns, allocator.state);
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}
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ns_tracker->parameter_ns = rcutils_strdup(new_ns, allocator);
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if (NULL == ns_tracker->parameter_ns) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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ns_tracker->num_parameter_ns = new_ns_count;
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break;
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default:
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res = RCUTILS_RET_ERROR;
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break;
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}
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return res;
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}
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