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[YAML Parser] Support parameter value parsing (#471)

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* Support parameter YAML string value parsing.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Address peer review comments.

- Improve test coverage using new getter API.
- Unify function return style and improve readability.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Clean up allocations in rcl_yaml_param_parser package tests.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Michel Hidalgo 2019-07-12 15:07:42 -03:00 • committed by GitHub
parent f9ceef5c86
commit 5fde9c0c0e
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5 changed files with 494 additions and 135 deletions
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33
rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
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@ -25,28 +25,53 @@ extern "C"
{
#endif
/// \brief Init param structure
/// \brief Initialize parameter structure
/// \param[in] allocator memory allocator to be used
/// \return a pointer to param structure on success or NULL on failure
RCL_YAML_PARAM_PARSER_PUBLIC
rcl_params_t * rcl_yaml_node_struct_init(
const rcutils_allocator_t allocator);
/// \brief Free param structure
/// \param[in] params_st points to the populated paramter struct
/// \brief Free parameter structure
/// \param[in] params_st points to the populated parameter struct
RCL_YAML_PARAM_PARSER_PUBLIC
void rcl_yaml_node_struct_fini(
rcl_params_t * params_st);
/// \brief Parse the YAML file, initialize and populate params_st
/// \param[in] file_path is the path to the YAML file
/// \param[inout] params_st points to the populated paramter struct
/// \param[inout] params_st points to the populated parameter struct
/// \return true on success and false on failure
RCL_YAML_PARAM_PARSER_PUBLIC
bool rcl_parse_yaml_file(
const char * file_path,
rcl_params_t * params_st);
/// \brief Parse a parameter value as a YAML string, updating params_st accordingly
/// \param[in] node_name is the name of the node to which the parameter belongs
/// \param[in] param_name is the name of the parameter whose value will be parsed
/// \param[in] yaml_value is the parameter value as a YAML string to be parsed
/// \param[inout] params_st points to the parameter struct
/// \return true on success and false on failure
RCL_YAML_PARAM_PARSER_PUBLIC
bool rcl_parse_yaml_value(
const char * node_name,
const char * param_name,
const char * yaml_value,
rcl_params_t * params_st);
/// \brief Get the variant value for a given parameter, zero initializing it in the
/// process if not present already
/// \param[in] node_name is the name of the node to which the parameter belongs
/// \param[in] param_name is the name of the parameter whose value is to be retrieved
/// \param[inout] params_st points to the populated (or to be populated) parameter struct
/// \return parameter variant value on success and NULL on failure
RCL_YAML_PARAM_PARSER_PUBLIC
rcl_variant_t * rcl_yaml_node_struct_get(
const char * node_name,
const char * param_name,
rcl_params_t * params_st);
/// \brief Print the parameter structure to stdout
/// \param[in] params_st points to the populated parameter struct
RCL_YAML_PARAM_PARSER_PUBLIC