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Enable incremental parameter yaml file parsing. (#507)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-09-24 11:20:23 -03:00 • committed by GitHub
parent 4eeaecf969
commit 78f8652ee4
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 67 additions and 30 deletions
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51
rcl_yaml_param_parser/src/parser.c
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@ -137,6 +137,8 @@ static rcutils_ret_t parse_key(
const yaml_event_t event,
uint32_t * map_level,
bool * is_new_map,
size_t * node_idx,
size_t * parameter_idx,
namespace_tracker_t * ns_tracker,
rcl_params_t * params_st);
@ -1295,6 +1297,8 @@ static rcutils_ret_t parse_key(
const yaml_event_t event,
uint32_t * map_level,
bool * is_new_map,
size_t * node_idx,
size_t * parameter_idx,
namespace_tracker_t * ns_tracker,
rcl_params_t * params_st)
{
@ -1323,11 +1327,6 @@ static rcutils_ret_t parse_key(
}
}
size_t node_idx = 0U;
size_t num_nodes = params_st->num_nodes;
if (num_nodes > 0U) {
node_idx = num_nodes - 1U;
}
rcutils_ret_t ret = RCUTILS_RET_OK;
switch (*map_level) {
case MAP_UNINIT_LVL:
@ -1359,7 +1358,11 @@ static rcutils_ret_t parse_key(
ret = RCUTILS_RET_BAD_ALLOC;
break;
}
params_st->node_names[num_nodes] = node_name_ns;
ret = find_node(node_name_ns, params_st, node_idx);
if (RCUTILS_RET_OK != ret) {
break;
}
ret = rem_name_from_ns(ns_tracker, NS_TYPE_NODE, allocator);
if (RCUTILS_RET_OK != ret) {
@ -1367,13 +1370,6 @@ static rcutils_ret_t parse_key(
"Internal error adding node namespace at line %d", line_num);
break;
}
ret = node_params_init(&(params_st->params[num_nodes]), allocator);
if (RCUTILS_RET_OK != ret) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error creating node parameter at line %d", line_num);
break;
}
params_st->num_nodes++;
/// Bump the map level to PARAMS
(*map_level)++;
}
@ -1381,15 +1377,12 @@ static rcutils_ret_t parse_key(
break;
case MAP_PARAMS_LVL:
{
size_t parameter_idx;
char * parameter_ns;
char * param_name;
/// If it is a new map, the previous key is param namespace
if (true == *is_new_map) {
params_st->params[node_idx].num_params--;
parameter_idx = params_st->params[node_idx].num_params;
parameter_ns = params_st->params[node_idx].parameter_names[parameter_idx];
parameter_ns = params_st->params[*node_idx].parameter_names[*parameter_idx];
if (NULL == parameter_ns) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Internal error creating param namespace at line %d", line_num);
@ -1408,7 +1401,7 @@ static rcutils_ret_t parse_key(
}
// Guard against adding more than the maximum allowed parameters
if (params_st->params[node_idx].num_params >= MAX_NUM_PARAMS_PER_NODE) {
if (params_st->params[*node_idx].num_params >= MAX_NUM_PARAMS_PER_NODE) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Exceeded maximum allowed number of parameters for a node (%d)",
MAX_NUM_PARAMS_PER_NODE);
@ -1417,15 +1410,18 @@ static rcutils_ret_t parse_key(
}
/// Add a parameter name into the node parameters
parameter_idx = params_st->params[node_idx].num_params;
parameter_ns = ns_tracker->parameter_ns;
if (NULL == parameter_ns) {
param_name = rcutils_strdup(value, allocator);
if (NULL == param_name) {
ret = RCUTILS_RET_BAD_ALLOC;
ret = find_parameter(*node_idx, value, params_st, parameter_idx);
if (ret != RCUTILS_RET_OK) {
break;
}
} else {
ret = find_parameter(*node_idx, parameter_ns, params_st, parameter_idx);
if (ret != RCUTILS_RET_OK) {
break;
}
const size_t params_ns_len = strlen(parameter_ns);
const size_t param_name_len = strlen(value);
const size_t tot_len = (params_ns_len + param_name_len + 2U);
@ -1447,9 +1443,9 @@ static rcutils_ret_t parse_key(
param_name[params_ns_len] = '.';
memmove((param_name + params_ns_len + 1U), value, param_name_len);
param_name[tot_len - 1U] = '\0';
params_st->params[*node_idx].parameter_names[*parameter_idx] = param_name;
}
params_st->params[node_idx].parameter_names[parameter_idx] = param_name;
params_st->params[node_idx].num_params++;
}
break;
default:
@ -1484,6 +1480,8 @@ static rcutils_ret_t parse_file_events(
&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
yaml_event_t event;
size_t node_idx = 0;
size_t parameter_idx = 0;
rcutils_ret_t ret = RCUTILS_RET_OK;
while (0 == done_parsing) {
if (RCUTILS_RET_OK != ret) {
@ -1506,7 +1504,8 @@ static rcutils_ret_t parse_file_events(
{
/// Need to toggle between key and value at params level
if (true == is_key) {
ret = parse_key(event, &map_level, &is_new_map, ns_tracker, params_st);
ret = parse_key(
event, &map_level, &is_new_map, &node_idx, &parameter_idx, ns_tracker, params_st);
if (RCUTILS_RET_OK != ret) {
break;
}
@ -1525,14 +1524,12 @@ static rcutils_ret_t parse_file_events(
yaml_event_delete(&event);
return RCUTILS_RET_ERROR;
}
const size_t node_idx = (params_st->num_nodes - 1U);
if (0U == params_st->params[node_idx].num_params) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
yaml_event_delete(&event);
return RCUTILS_RET_ERROR;
}
const size_t parameter_idx = (params_st->params[node_idx].num_params - 1U);
ret = parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
if (RCUTILS_RET_OK != ret) {
break;