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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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33
rcl_yaml_param_parser/test/test_parse_yaml.cpp
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@ -48,6 +48,15 @@ TEST(test_parser, correct_syntax) {
bool res = rcl_parse_yaml_file(path, params_hdl);
ASSERT_TRUE(res) << rcutils_get_error_string().str;
char * another_path = rcutils_join_path(test_path, "overlay.yaml", allocator);
ASSERT_TRUE(NULL != another_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(another_path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(another_path)) << "No test YAML file found at " << another_path;
res = rcl_parse_yaml_file(another_path, params_hdl);
ASSERT_TRUE(res) << rcutils_get_error_string().str;
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({
@ -59,11 +68,11 @@ TEST(test_parser, correct_syntax) {
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(*param_value->bool_value);
res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "false", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_TRUE(*param_value->bool_value);
EXPECT_FALSE(*param_value->bool_value);
param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "id", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
@ -74,6 +83,15 @@ TEST(test_parser, correct_syntax) {
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(12, *param_value->integer_value);
param_value = rcl_yaml_node_struct_get("camera", "loc", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("back", param_value->string_value);
res = rcl_parse_yaml_value("camera", "loc", "front", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("front", 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);
@ -83,6 +101,15 @@ TEST(test_parser, correct_syntax) {
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);
param_value = rcl_yaml_node_struct_get("intel", "num_cores", params);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(12, *param_value->integer_value);
res = rcl_parse_yaml_value("intel", "num_cores", "8", params);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(8, *param_value->integer_value);
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);