YAML parameter parser (#235)

* Implement a basic YAML based parameter parser for ros2 nodes

* Add README file

* Fix the issues after moving from rcutils_yaml_param_parser to rcl_yaml_param_parser

  - rename folders from rcutils_yaml_param_parser to rcl_yaml_param_parser
  - rename project, header guards and include statements from rcutils_yaml_param_parser to rcl_yaml_param_parser
  - move type declaration in separat file and namespace new structures
  - Fix the code review comments from Mikael

* Few minor changes

   - Changed "params" string to "ros__parameters"
   - Add -Wall, -Wextra and -Wpedantic falgs
   - Fix the compile warning with the new flags

* Fix the changes made in the design of C structure

  - Remove the node_namespaces entry in rcl_params_t
  - Change the type of num_nodes and num_params to size_t

* depend on libyaml_vendor (#236)

* Fix cmake setting standard(C and C++) and add byte_array in C struct

*   Remove C11 so that it defaults to C99

* [rcl_yaml_param_parser] fix export symbols (#237)

* add visibility macros

* remove unused macro

* Support for multi level node and parameter name spaces

* Additional fixes and cleanups

  - Support for string namespace seperator
  - Provide parameter structure init function API
  - name cleanups

* off by 1

* Call yaml_parser_delete()

* fclose(yaml_file)

* free() allocated paths

* Call yaml_event_delete()

* completely deallcoate string array

* Few cleanup changes

  - Add install command into CMakelists.txt
  - Replace one of the zero_allocate with reallocate
  - Pass allocator state
  - Fix int32_t -> rcl_ret_t return value

* Don't include unistd.h

* Use size_t for array indices

* Just pass the allocator in the init function

rcl_yaml_param_parser/test/correct_config.yaml

@@ -0,0 +1,51 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id: 10
+      name: front_lidar
+      ports: [2438, 2439, 2440]
+      driver1:
+        dx: 4.56
+        dy: 2.30
+        fr_sensor_specs: [12, 3, 0, 7]
+        bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+      is_front: true
+      driver2:
+        dx: 1.23
+        dy: 0.45
+  lidar_2:
+    ros__parameters:
+      id: 11
+      name: back_lidar
+      dy1: 0.003
+      is_back: false
+      driver:
+        dz: 7.89
+camera:
+  ros__parameters:
+    name: camera1
+    loc: front
+    cam_spec:
+      angle: 2.34
+      supported_brands: ["Bosch", "Novatek", "Mobius"]
+new_camera_ns:
+  new_camera1:
+    ros__parameters:
+      is_cam_on: [true, true, false, true, false, false]
+      brand: Bosch
+  new_camera2:
+    ros__parameters:
+      camera_dr:
+        dr_name: default
+      brand: Mobius 
+drive_px:
+  ros__parameters:
+    num_cores: 6
+    arch: ARM
+intel:
+  ros__parameters:
+    num_cores: 8
+    arch: x86_64

rcl_yaml_param_parser/test/indented_name_space.yaml

@@ -0,0 +1,17 @@
+# config/test_yaml
+---
+  lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id: 10
+      name: front_lidar
+      ports: [2438, 2439, 2440]
+      driver1:
+        dx: 4.56
+        dy: 2.30
+        fr_sensor_specs: [12, 3, 0, 7]
+        bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+      is_front: true
+      driver2:
+        dx: 1.23
+      dy: 0.45

rcl_yaml_param_parser/test/max_string_sz.yaml

@@ -0,0 +1,9 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id: 10
+      name: "A very long name that will not be supported by the yaml parser. The max supported string size is 128
+      characters. Anything over the max size will be rejected"

rcl_yaml_param_parser/test/multi_ns_correct.yaml

@@ -0,0 +1,64 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    lidar11:
+      lidar111:
+        ros__parameters:
+          id: 10
+          name: front_lidar
+          ports: [2438, 2439, 2440]
+          driver1:
+            driver11:
+              driver111:
+                dx: 4.56
+                dy: 2.30
+                fr_sensor_specs: [12, 3, 0, 7]
+              bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+          is_front: true
+          driver2:
+            driver21:
+              dx: 1.23
+              dy: 0.45
+  lidar_2:
+    lidar21:
+      ros__parameters:
+        driver1:
+          driver11:
+            id: 11
+            name: back_lidar
+            back_lidar1:
+              back_lidar12:
+                pos: center
+                ratio: 2:1
+            dy1: 0.003
+        is_back: false
+        tmp_driver:
+          dz: 7.89
+camera:
+  camera1:
+    ros__parameters:
+      name: camera1
+      loc: front
+      cam_spec:
+        angle: 2.34
+        supported_brands: ["Bosch", "Novatek", "Mobius"]
+new_camera_ns:
+  new_camera1:
+    ros__parameters:
+      is_cam_on: [true, true, false, true, false, false]
+      brand: Bosch
+  new_camera2:
+    ros__parameters:
+      camera_dr:
+        dr_name: default
+      brand: Mobius 
+drive_px:
+  ros__parameters:
+    num_cores: 6
+    arch: ARM
+intel:
+  ros__parameters:
+    num_cores: 8
+    arch: x86_64

rcl_yaml_param_parser/test/no_alias_support.yaml

@@ -0,0 +1,9 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id: 10
+      name: &FL "front_lidar"
+      spec: *FL

rcl_yaml_param_parser/test/no_value1.yaml

@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id:
+      name: "front lidar"

rcl_yaml_param_parser/test/params_with_no_node.yaml

@@ -0,0 +1,18 @@
+# config/test_yaml
+---
+node1:
+  ros__parameters:
+    name: test
+ros__parameters:
+  id: 10
+  name: front_lidar
+  ports: [2438, 2439, 2440]
+  driver1:
+    dx: 4.56
+    dy: 2.30
+    fr_sensor_specs: [12, 3, 0, 7]
+    bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+  is_front: true
+  driver2:
+    dx: 1.23
+  dy: 0.45

rcl_yaml_param_parser/test/seq_map1.yaml

@@ -0,0 +1,14 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      - driver: front_driver
+        dx: 4.56
+        dy: 2.30
+        sensor_specs: [12, 3, 0, 7]
+      - driver: back_driver
+        dx: 1.23
+        dy: 0.45
+        sensor_specs: [12.1, -2.3, 5.2, 9.0]

rcl_yaml_param_parser/test/seq_map2.yaml

@@ -0,0 +1,16 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      id: 10
+      name: front_lidar
+      - driver: front_driver
+        dx: 4.56
+        dy: 2.30
+        sensor_specs: [12, 3, 0, 7]
+      - driver: back_driver
+        dx: 1.23
+        dy: 0.45
+        sensor_specs: [12.1, -2.3, 5.2, 9.0]

rcl_yaml_param_parser/test/test_parse_yaml.cpp

@@ -0,0 +1,178 @@
+// Copyright 2018 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdio.h>
+#include <gtest/gtest.h>
+
+#include "rcl_yaml_param_parser/parser.h"
+
+#include "rcutils/error_handling.h"
+#include "rcutils/filesystem.h"
+
+static char cur_dir[1024];
+rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+TEST(test_file_parser, correct_syntax) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "correct_config.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_TRUE(res);
+  rcl_yaml_node_struct_print(params_hdl);
+  rcl_yaml_node_struct_fini(params_hdl);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, multi_ns_correct_syntax) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_TRUE(res);
+  rcl_yaml_node_struct_print(params_hdl);
+  rcl_yaml_node_struct_fini(params_hdl);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, seq_map1) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "seq_map1.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, seq_map2) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "seq_map2.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, params_with_no_node) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "params_with_no_node.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, no_alias_support) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "no_alias_support.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, max_string_sz) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "max_string_sz.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, no_value1) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "no_value1.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+TEST(test_file_parser, indented_ns) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  char * test_path = rcutils_join_path(cur_dir, "test");
+  char * path = rcutils_join_path(test_path, "indented_name_space.yaml");
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
+  EXPECT_FALSE(res);
+  free(test_path);
+  free(path);
+}
+
+int32_t main(int32_t argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}