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Support parameter overrides and remap rules flags on command line (#483)

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* Support rcl_params_t copies.

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

* Parse parameter overrides from command line.

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

* Parameter overrides' tests passing.

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

* Test rcl_yaml_node_struct_copy() function

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

* Export rcl_yaml_param_parser as rcl dependency.

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

* Zero initialize parameter overrides before rcl arguments copy.

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

* Initialize local variables early enough.

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

* Simplify rcl package.xml

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

* Assert arguments sanity in rcl args parsing internal functions.

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

* Extend rcl_yaml_param_parser tests to all parameter types.

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

* Address peer review comments.

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

* Support --remap/-r flags.

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

* Please cpplint

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-08-26 13:32:16 -03:00 • committed by GitHub
parent d07003847b
commit 6f989433bc
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 838 additions and 201 deletions
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139
rcl_yaml_param_parser/test/test_parse_yaml.cpp
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@ -48,47 +48,112 @@ TEST(test_parser, correct_syntax) {
bool res = rcl_parse_yaml_file(path, params_hdl);
ASSERT_TRUE(res) << rcutils_get_error_string().str;
rcl_variant_t * param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_1", "ports", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_array_value);
ASSERT_EQ(3U, param_value->integer_array_value->size);
EXPECT_EQ(2438, param_value->integer_array_value->values[0]);
EXPECT_EQ(2439, param_value->integer_array_value->values[1]);
EXPECT_EQ(2440, param_value->integer_array_value->values[2]);
res = rcl_parse_yaml_value("lidar_ns/lidar_1", "ports", "[8080]", params_hdl);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_array_value);
ASSERT_EQ(1U, param_value->integer_array_value->size);
EXPECT_EQ(8080, param_value->integer_array_value->values[0]);
rcl_params_t * copy_of_params_hdl = rcl_yaml_node_struct_copy(params_hdl);
ASSERT_TRUE(NULL != copy_of_params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_yaml_node_struct_fini(copy_of_params_hdl);
});
param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "is_back", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_FALSE(*param_value->bool_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "true", params_hdl);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_TRUE(*param_value->bool_value);
rcl_params_t * params_hdl_set[] = {params_hdl, copy_of_params_hdl};
for (rcl_params_t * params : params_hdl_set) {
rcl_variant_t * param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "is_back", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_FALSE(*param_value->bool_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "true", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_TRUE(*param_value->bool_value);
param_value = rcl_yaml_node_struct_get("camera", "cam_spec.angle", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.34, *param_value->double_value);
res = rcl_parse_yaml_value("camera", "cam_spec.angle", "2.2", params_hdl);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);
param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "id", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(11, *param_value->integer_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "id", "12", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(12, *param_value->integer_value);
param_value = rcl_yaml_node_struct_get("intel", "arch", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("x86_64", param_value->string_value);
res = rcl_parse_yaml_value("intel", "arch", "x86", params_hdl);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("x86", param_value->string_value);
param_value = rcl_yaml_node_struct_get("camera", "cam_spec.angle", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.34, *param_value->double_value);
res = rcl_parse_yaml_value("camera", "cam_spec.angle", "2.2", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);
rcl_yaml_node_struct_print(params_hdl);
param_value = rcl_yaml_node_struct_get("intel", "arch", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("x86_64", param_value->string_value);
res = rcl_parse_yaml_value("intel", "arch", "x86", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("x86", param_value->string_value);
param_value = rcl_yaml_node_struct_get("new_camera_ns/new_camera1", "is_cam_on", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_array_value);
ASSERT_EQ(6U, param_value->bool_array_value->size);
EXPECT_TRUE(param_value->bool_array_value->values[0]);
EXPECT_TRUE(param_value->bool_array_value->values[1]);
EXPECT_FALSE(param_value->bool_array_value->values[2]);
EXPECT_TRUE(param_value->bool_array_value->values[3]);
EXPECT_FALSE(param_value->bool_array_value->values[4]);
EXPECT_FALSE(param_value->bool_array_value->values[5]);
res = rcl_parse_yaml_value("new_camera_ns/new_camera1", "is_cam_on", "[false, true]", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_array_value);
ASSERT_EQ(2U, param_value->bool_array_value->size);
EXPECT_FALSE(param_value->bool_array_value->values[0]);
EXPECT_TRUE(param_value->bool_array_value->values[1]);
param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_1", "ports", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_array_value);
ASSERT_EQ(3U, param_value->integer_array_value->size);
EXPECT_EQ(2438, param_value->integer_array_value->values[0]);
EXPECT_EQ(2439, param_value->integer_array_value->values[1]);
EXPECT_EQ(2440, param_value->integer_array_value->values[2]);
res = rcl_parse_yaml_value("lidar_ns/lidar_1", "ports", "[8080]", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_array_value);
ASSERT_EQ(1U, param_value->integer_array_value->size);
EXPECT_EQ(8080, param_value->integer_array_value->values[0]);
param_value = rcl_yaml_node_struct_get(
"lidar_ns/lidar_1", "driver1.bk_sensor_specs", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_array_value);
ASSERT_EQ(4U, param_value->double_array_value->size);
EXPECT_DOUBLE_EQ(12.1, param_value->double_array_value->values[0]);
EXPECT_DOUBLE_EQ(-2.3, param_value->double_array_value->values[1]);
EXPECT_DOUBLE_EQ(5.2, param_value->double_array_value->values[2]);
EXPECT_DOUBLE_EQ(9.0, param_value->double_array_value->values[3]);
res = rcl_parse_yaml_value("lidar_ns/lidar_1", "driver1.bk_sensor_specs", "[1.0]", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_array_value);
ASSERT_EQ(1U, param_value->double_array_value->size);
EXPECT_DOUBLE_EQ(1.0, param_value->double_array_value->values[0]);
param_value = rcl_yaml_node_struct_get("camera", "cam_spec.supported_brands", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_array_value);
ASSERT_EQ(3U, param_value->string_array_value->size);
EXPECT_STREQ("Bosch", param_value->string_array_value->data[0]);
EXPECT_STREQ("Novatek", param_value->string_array_value->data[1]);
EXPECT_STREQ("Mobius", param_value->string_array_value->data[2]);
res = rcl_parse_yaml_value(
"camera", "cam_spec.supported_brands", "[Mobius]", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->string_array_value);
ASSERT_EQ(1U, param_value->string_array_value->size);
EXPECT_STREQ("Mobius", param_value->string_array_value->data[0]);
rcl_yaml_node_struct_print(params);
}
}
TEST(test_file_parser, string_array_with_quoted_number) {