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[yaml parser] Fix FQN=//node_name when ns is / (#299)

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* Fix FQN=//node_name when ns is /

* Check end of string for ns sep

* Add regression test
This commit is contained in:
dhood 2018-09-21 14:50:48 -07:00 • committed by GitHub
parent 0a6d9186e8
commit f1293b7d3b
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 40 additions and 1 deletions
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9
rcl_yaml_param_parser/src/parser.c
View file

@ -187,7 +187,14 @@ static rcl_ret_t add_name_to_ns(
ns_len = strlen(cur_ns);
name_len = strlen(name);
sep_len = strlen(sep_str);
tot_len = ns_len + name_len + sep_len + 1U;
// Check the last sep_len characters of the current NS against the separator string.
if (strcmp(cur_ns + ns_len - sep_len, sep_str) == 0) {
// Current NS already ends with the separator: don't put another separator in.
sep_len = 0;
sep_str = "";
}
tot_len = ns_len + sep_len + name_len + 1U;
if (tot_len > MAX_STRING_SIZE) {
RCL_SET_ERROR_MSG("New namespace string is exceeding max string size",

7
rcl_yaml_param_parser/test/root_ns.yaml Normal file
View file

@ -0,0 +1,7 @@
# config/test_yaml
---
/:
my_node:
ros__parameters:
param_name: 'value'

25
rcl_yaml_param_parser/test/test_parse_yaml.cpp
View file

@ -62,6 +62,31 @@ TEST(test_file_parser, multi_ns_correct_syntax) {
allocator.deallocate(path, allocator.state);
}
TEST(test_file_parser, root_ns) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "root_ns.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_TRUE(res);
rcl_yaml_node_struct_print(params_hdl);
// Check that there is only one forward slash in the node's FQN.
// (Regression test for https://github.com/ros2/rcl/pull/299).
ASSERT_EQ(1u, params_hdl->num_nodes);
ASSERT_STREQ("/my_node", params_hdl->node_names[0]);
rcl_yaml_node_struct_fini(params_hdl);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}
TEST(test_file_parser, seq_map1) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));