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Fix yaml parser error when meets .nan (refactor on #754) (#781) (#785)

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* Fix yaml parser error when meets .nan

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Correct code style

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Modify as suggested

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Improve test

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Fix minor flaw

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Fix minor flaw again

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Satisfy windows CI

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Change the match rule for special float

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

Distinguish +.inf and -.inf

Signed-off-by: Ada-King <Bingtao.Du@sony.com>

* Remove unnecessary #include change.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Add in two more necessary includes.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Co-authored-by: Ada-King <Bingtao.Du@sony.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Stephen Brawner <brawner@gmail.com>

Co-authored-by: Ada-King <Bingtao.Du@sony.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
brawner 2020-10-05 18:12:26 -07:00 • committed by GitHub
parent 2c513aa0ed
commit 7c1f2746f4
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3 changed files with 80 additions and 2 deletions
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26
rcl_yaml_param_parser/src/parse.c
View file

@ -12,7 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <ctype.h>
#include <errno.h>
#include <stdlib.h>
#include <string.h>
#include "rcutils/allocator.h"
#include "rcutils/error_handling.h"
@ -117,7 +120,30 @@ void * get_value(
{
errno = 0;
endptr = NULL;
const char * iter_ptr = NULL;
if ((0 == strcmp(value, ".nan")) ||
(0 == strcmp(value, ".NaN")) ||
(0 == strcmp(value, ".NAN")) ||
(0 == strcmp(value, ".inf")) ||
(0 == strcmp(value, ".Inf")) ||
(0 == strcmp(value, ".INF")) ||
(0 == strcmp(value, "+.inf")) ||
(0 == strcmp(value, "+.Inf")) ||
(0 == strcmp(value, "+.INF")) ||
(0 == strcmp(value, "-.inf")) ||
(0 == strcmp(value, "-.Inf")) ||
(0 == strcmp(value, "-.INF")))
{
for (iter_ptr = value; !isalpha(*iter_ptr); ) {
iter_ptr += 1;
}
dval = strtod(iter_ptr, &endptr);
if (*value == '-') {
dval = -dval;
}
} else {
dval = strtod(value, &endptr);
}
if ((0 == errno) && (NULL != endptr)) {
if ((NULL != endptr) && (endptr != value)) {
if (('\0' != *value) && ('\0' == *endptr)) {

4
rcl_yaml_param_parser/test/special_float.yaml Normal file
View file

@ -0,0 +1,4 @@
test_node:
ros__parameters:
isstring: [string, .nananan, .nAN, .Nan, .infinf, .INf, .infinity]
nan_inf: [1.1, 2.2, .nan, .NAN, .inf, +.Inf, -.INF]

50
rcl_yaml_param_parser/test/test_parse_yaml.cpp
View file

@ -12,9 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdio.h>
#include <gtest/gtest.h>
#include <cmath>
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl_yaml_param_parser/parser.h"
@ -497,6 +498,53 @@ TEST(test_file_parser, maximum_number_parameters) {
// No cleanup, rcl_parse_yaml_file takes care of that if it fails.
}
// Test special float point(https://github.com/ros2/rcl/issues/555).
TEST(test_file_parser, special_float_point) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "special_float.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params_hdl);
});
bool res = rcl_parse_yaml_file(path, params_hdl);
EXPECT_TRUE(res) << rcutils_get_error_string().str;
rcl_variant_t * param_value = rcl_yaml_node_struct_get("test_node", "isstring", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_array_value);
EXPECT_STREQ(".nananan", param_value->string_array_value->data[1]);
EXPECT_STREQ(".nAN", param_value->string_array_value->data[2]);
EXPECT_STREQ(".infinf", param_value->string_array_value->data[4]);
EXPECT_STREQ(".INf", param_value->string_array_value->data[5]);
param_value = rcl_yaml_node_struct_get(
"test_node", "nan_inf", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_array_value);
ASSERT_EQ(7U, param_value->double_array_value->size);
EXPECT_FALSE(std::isnan(param_value->double_array_value->values[1]));
EXPECT_TRUE(std::isnan(param_value->double_array_value->values[2]));
EXPECT_TRUE(std::isnan(param_value->double_array_value->values[3]));
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[4]));
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[5]));
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[6]));
}
int32_t main(int32_t argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);