[YAML Parser] Support parameter value parsing (#471)
* 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>
This commit is contained in:
Michel Hidalgo
GitHub
parent
f9ceef5c86
commit
5fde9c0c0e
5 changed files with 494 additions and 135 deletions
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@ -12,12 +12,14 @@
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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 <assert.h>
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#include <errno.h>
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#include <inttypes.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <yaml.h>
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#include "rcl_yaml_param_parser/parser.h"
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@ -25,8 +27,8 @@
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#include "rcutils/allocator.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/types.h"
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#include "rcutils/strdup.h"
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#include "rcutils/types.h"
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/// NOTE: Will allow a max YAML mapping depth of 5
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/// map level 1 : Node name mapping
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@ -126,6 +128,8 @@ static void * get_value(
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static rcutils_ret_t parse_value(
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const yaml_event_t event,
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const bool is_seq,
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const size_t node_idx,
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const size_t parameter_idx,
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data_types_t * seq_data_type,
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rcl_params_t * params_st);
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@ -136,11 +140,17 @@ static rcutils_ret_t parse_key(
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namespace_tracker_t * ns_tracker,
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rcl_params_t * params_st);
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static rcutils_ret_t parse_events(
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static rcutils_ret_t parse_file_events(
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yaml_parser_t * parser,
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namespace_tracker_t * ns_tracker,
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rcl_params_t * params_st);
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static rcutils_ret_t parse_value_events(
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yaml_parser_t * parser,
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const size_t node_idx,
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const size_t parameter_idx,
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rcl_params_t * params_st);
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///
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/// Add name to namespace tracker
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///
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@ -410,14 +420,14 @@ void rcl_yaml_node_struct_fini(
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}
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if (NULL != params_st->params) {
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rcl_node_params_t * node_params_st = ¶ms_st->params[node_idx];
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rcl_node_params_t * node_params_st = &(params_st->params[node_idx]);
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for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params; parameter_idx++) {
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if (
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(NULL != node_params_st->parameter_names) &&
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(NULL != node_params_st->parameter_values))
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{
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char * param_name = node_params_st->parameter_names[parameter_idx];
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rcl_variant_t * param_var = &node_params_st->parameter_values[parameter_idx];
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rcl_variant_t * param_var = &(node_params_st->parameter_values[parameter_idx]);
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if (NULL != param_name) {
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allocator.deallocate(param_name, allocator.state);
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}
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@ -478,6 +488,96 @@ void rcl_yaml_node_struct_fini(
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allocator.deallocate(params_st, allocator.state);
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}
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///
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/// Find node entry index in parameters' structure
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///
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static rcutils_ret_t find_node(
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const char * node_name,
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rcl_params_t * param_st,
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size_t * node_idx)
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{
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assert(NULL != node_name);
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assert(NULL != param_st);
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assert(NULL != node_idx);
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for (*node_idx = 0U; *node_idx < param_st->num_nodes; (*node_idx)++) {
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if (0 == strcmp(param_st->node_names[*node_idx], node_name)) {
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// Node found.
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return RCUTILS_RET_OK;
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}
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}
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// Node not found, add it.
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rcutils_allocator_t allocator = param_st->allocator;
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param_st->node_names[*node_idx] = rcutils_strdup(node_name, allocator);
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if (NULL == param_st->node_names[*node_idx]) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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rcutils_ret_t ret = node_params_init(&(param_st->params[*node_idx]), allocator);
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if (RCUTILS_RET_OK != ret) {
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allocator.deallocate(param_st->node_names[*node_idx], allocator.state);
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return ret;
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}
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param_st->num_nodes++;
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return RCUTILS_RET_OK;
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}
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///
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/// Find paremeter entry index in node parameters' structure
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///
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static rcutils_ret_t find_parameter(
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const size_t node_idx,
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const char * parameter_name,
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rcl_params_t * param_st,
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size_t * parameter_idx)
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{
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assert(NULL != parameter_name);
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assert(NULL != param_st);
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assert(NULL != parameter_idx);
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assert(node_idx < param_st->num_nodes);
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rcl_node_params_t * node_param_st = &(param_st->params[node_idx]);
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for (*parameter_idx = 0U; *parameter_idx < node_param_st->num_params; (*parameter_idx)++) {
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if (0 == strcmp(node_param_st->parameter_names[*parameter_idx], parameter_name)) {
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// Parameter found.
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return RCUTILS_RET_OK;
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}
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}
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// Parameter not found, add it.
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rcutils_allocator_t allocator = param_st->allocator;
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node_param_st->parameter_names[*parameter_idx] = rcutils_strdup(parameter_name, allocator);
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if (NULL == node_param_st->parameter_names[*parameter_idx]) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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node_param_st->num_params++;
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return RCUTILS_RET_OK;
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}
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rcl_variant_t * rcl_yaml_node_struct_get(
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const char * node_name,
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const char * param_name,
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rcl_params_t * params_st)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(node_name, NULL);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(param_name, NULL);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(params_st, NULL);
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rcl_variant_t * param_value = NULL;
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size_t node_idx = 0U;
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rcutils_ret_t ret = find_node(node_name, params_st, &node_idx);
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if (RCUTILS_RET_OK == ret) {
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size_t parameter_idx = 0U;
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ret = find_parameter(node_idx, param_name, params_st, ¶meter_idx);
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if (RCUTILS_RET_OK == ret) {
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param_value = &(params_st->params[node_idx].parameter_values[parameter_idx]);
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}
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}
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return param_value;
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}
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///
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/// Dump the param structure
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///
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@ -497,14 +597,14 @@ void rcl_yaml_node_struct_print(
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}
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if (NULL != params_st->params) {
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rcl_node_params_t * node_params_st = ¶ms_st->params[node_idx];
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rcl_node_params_t * node_params_st = &(params_st->params[node_idx]);
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for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params; parameter_idx++) {
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if (
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(NULL != node_params_st->parameter_names) &&
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(NULL != node_params_st->parameter_values))
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{
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char * param_name = node_params_st->parameter_names[parameter_idx];
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rcl_variant_t * param_var = &node_params_st->parameter_values[parameter_idx];
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rcl_variant_t * param_var = &(node_params_st->parameter_values[parameter_idx]);
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if (NULL != param_name) {
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printf("%*s", param_col, param_name);
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}
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@ -817,6 +917,8 @@ static void * get_value(
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static rcutils_ret_t parse_value(
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const yaml_event_t event,
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const bool is_seq,
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const size_t node_idx,
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const size_t parameter_idx,
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data_types_t * seq_data_type,
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rcl_params_t * params_st)
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{
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@ -832,13 +934,6 @@ static rcutils_ret_t parse_value(
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return RCUTILS_RET_INVALID_ARGUMENT;
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}
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const size_t node_idx = (params_st->num_nodes - 1U);
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if (0U == params_st->params[node_idx].num_params) {
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RCUTILS_SET_ERROR_MSG("No parameter to update");
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return RCUTILS_RET_INVALID_ARGUMENT;
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}
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const size_t parameter_idx = ((params_st->params[node_idx].num_params) - 1U);
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const size_t val_size = event.data.scalar.length;
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const char * value = (char *)event.data.scalar.value;
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yaml_scalar_style_t style = event.data.scalar.style;
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@ -1056,11 +1151,10 @@ static rcutils_ret_t parse_key(
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}
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size_t node_idx = 0U;
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size_t num_nodes = params_st->num_nodes; // New node index
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size_t num_nodes = params_st->num_nodes;
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if (num_nodes > 0U) {
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node_idx = (num_nodes - 1U); // Current node index
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node_idx = num_nodes - 1U;
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}
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rcutils_ret_t ret = RCUTILS_RET_OK;
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switch (*map_level) {
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case MAP_UNINIT_LVL:
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@ -1114,8 +1208,8 @@ static rcutils_ret_t parse_key(
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break;
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case MAP_PARAMS_LVL:
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{
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char * parameter_ns;
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size_t parameter_idx;
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char * parameter_ns;
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char * param_name;
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/// If it is a new map, the previous key is param namespace
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@ -1194,15 +1288,14 @@ static rcutils_ret_t parse_key(
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}
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///
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/// Get events from the parser and process the events
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/// Get events from parsing a parameter YAML file and process them
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///
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static rcutils_ret_t parse_events(
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static rcutils_ret_t parse_file_events(
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yaml_parser_t * parser,
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namespace_tracker_t * ns_tracker,
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rcl_params_t * params_st)
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{
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int32_t done_parsing = 0;
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yaml_event_t event;
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bool is_key = true;
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bool is_seq = false;
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uint32_t line_num = 0;
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@ -1217,6 +1310,7 @@ static rcutils_ret_t parse_events(
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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yaml_event_t event;
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rcutils_ret_t ret = RCUTILS_RET_OK;
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while (0 == done_parsing) {
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if (RCUTILS_RET_OK != ret) {
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@ -1252,7 +1346,21 @@ static rcutils_ret_t parse_events(
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ret = RCUTILS_RET_ERROR;
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break;
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}
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ret = parse_value(event, is_seq, &seq_data_type, params_st);
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if (0U == params_st->num_nodes) {
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RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
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yaml_event_delete(&event);
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return RCUTILS_RET_ERROR;
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}
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const size_t node_idx = (params_st->num_nodes - 1U);
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if (0U == params_st->params[node_idx].num_params) {
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RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
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yaml_event_delete(&event);
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return RCUTILS_RET_ERROR;
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}
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const size_t parameter_idx = (params_st->params[node_idx].num_params - 1U);
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ret = parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
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if (RCUTILS_RET_OK != ret) {
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break;
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}
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@ -1348,7 +1456,62 @@ static rcutils_ret_t parse_events(
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}
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///
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/// TODO (anup.pemmaiah): Support string yaml similar to yaml file
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/// Get events from parsing a parameter YAML value string and process them
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///
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static rcutils_ret_t parse_value_events(
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yaml_parser_t * parser,
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const size_t node_idx,
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const size_t parameter_idx,
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rcl_params_t * params_st)
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{
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bool is_seq = false;
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data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
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rcutils_ret_t ret = RCUTILS_RET_OK;
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bool done_parsing = false;
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while (RCUTILS_RET_OK == ret && !done_parsing) {
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yaml_event_t event;
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int success = yaml_parser_parse(parser, &event);
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if (0 == success) {
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RCUTILS_SET_ERROR_MSG("Error parsing an event");
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ret = RCUTILS_RET_ERROR;
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break;
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}
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switch (event.type) {
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case YAML_STREAM_END_EVENT:
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done_parsing = true;
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break;
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case YAML_SCALAR_EVENT:
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ret = parse_value(
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event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
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break;
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case YAML_SEQUENCE_START_EVENT:
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is_seq = true;
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seq_data_type = DATA_TYPE_UNKNOWN;
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break;
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case YAML_SEQUENCE_END_EVENT:
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is_seq = false;
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break;
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case YAML_STREAM_START_EVENT:
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break;
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case YAML_DOCUMENT_START_EVENT:
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break;
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case YAML_DOCUMENT_END_EVENT:
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break;
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case YAML_NO_EVENT:
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RCUTILS_SET_ERROR_MSG("Received an empty event");
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ret = RCUTILS_RET_ERROR;
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break;
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default:
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RCUTILS_SET_ERROR_MSG("Unknown YAML event");
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ret = RCUTILS_RET_ERROR;
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break;
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}
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yaml_event_delete(&event);
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}
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return ret;
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}
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///
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/// TODO (anup.pemmaiah): Support Mutiple yaml files
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///
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///
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@ -1358,15 +1521,14 @@ bool rcl_parse_yaml_file(
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const char * file_path,
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rcl_params_t * params_st)
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{
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if (NULL == params_st) {
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RCUTILS_SAFE_FWRITE_TO_STDERR("Pass a initialized paramter structure");
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return false;
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}
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rcutils_allocator_t allocator = params_st->allocator;
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RCUTILS_CHECK_FOR_NULL_WITH_MSG(
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file_path, "YAML file path is NULL", return false);
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if (NULL == params_st) {
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RCUTILS_SAFE_FWRITE_TO_STDERR("Pass an initialized parameter structure");
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return false;
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}
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yaml_parser_t parser;
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int success = yaml_parser_initialize(&parser);
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if (0 == success) {
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@ -1385,12 +1547,14 @@ bool rcl_parse_yaml_file(
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namespace_tracker_t ns_tracker;
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memset(&ns_tracker, 0, sizeof(namespace_tracker_t));
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rcutils_ret_t ret = parse_events(&parser, &ns_tracker, params_st);
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rcutils_ret_t ret = parse_file_events(&parser, &ns_tracker, params_st);
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yaml_parser_delete(&parser);
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fclose(yaml_file);
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yaml_parser_delete(&parser);
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if (RCUTILS_RET_OK != ret) {
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rcutils_allocator_t allocator = params_st->allocator;
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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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@ -1403,3 +1567,50 @@ bool rcl_parse_yaml_file(
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return true;
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}
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///
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/// Parse a YAML string and populate params_st
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///
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bool rcl_parse_yaml_value(
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const char * node_name,
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const char * param_name,
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const char * yaml_value,
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rcl_params_t * params_st)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(node_name, false);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(param_name, false);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(yaml_value, false);
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if (NULL == params_st) {
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RCUTILS_SAFE_FWRITE_TO_STDERR("Pass an initialized parameter structure");
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return false;
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}
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size_t node_idx = 0U;
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rcutils_ret_t ret = find_node(node_name, params_st, &node_idx);
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if (RCUTILS_RET_OK != ret) {
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return false;
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}
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size_t parameter_idx = 0U;
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ret = find_parameter(node_idx, param_name, params_st, ¶meter_idx);
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if (RCUTILS_RET_OK != ret) {
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return false;
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}
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yaml_parser_t parser;
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int success = yaml_parser_initialize(&parser);
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if (0 == success) {
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RCUTILS_SET_ERROR_MSG("Could not initialize the parser");
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return false;
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}
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yaml_parser_set_input_string(
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&parser, (const unsigned char *)yaml_value, strlen(yaml_value));
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ret = parse_value_events(&parser, node_idx, parameter_idx, params_st);
|
||||
|
||||
yaml_parser_delete(&parser);
|
||||
|
||||
return RCUTILS_RET_OK == ret;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue