5fde9c0c0e
* Support parameter YAML string value parsing. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Address peer review comments. - Improve test coverage using new getter API. - Unify function return style and improve readability. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Clean up allocations in rcl_yaml_param_parser package tests. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
389 lines
18 KiB
C++
389 lines
18 KiB
C++
// Copyright 2018 Apex.AI, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdio.h>
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#include <gtest/gtest.h>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "rcutils/allocator.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/filesystem.h"
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static char cur_dir[1024];
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TEST(test_parser, correct_syntax) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_yaml_node_struct_fini(params_hdl);
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});
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bool res = rcl_parse_yaml_file(path, params_hdl);
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ASSERT_TRUE(res) << rcutils_get_error_string().str;
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rcl_variant_t * param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_1", "ports", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->integer_array_value);
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ASSERT_EQ(3U, param_value->integer_array_value->size);
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EXPECT_EQ(2438, param_value->integer_array_value->values[0]);
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EXPECT_EQ(2439, param_value->integer_array_value->values[1]);
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EXPECT_EQ(2440, param_value->integer_array_value->values[2]);
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res = rcl_parse_yaml_value("lidar_ns/lidar_1", "ports", "[8080]", params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->integer_array_value);
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ASSERT_EQ(1U, param_value->integer_array_value->size);
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EXPECT_EQ(8080, param_value->integer_array_value->values[0]);
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param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "is_back", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->bool_value);
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EXPECT_FALSE(*param_value->bool_value);
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res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "true", params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->bool_value);
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EXPECT_TRUE(*param_value->bool_value);
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param_value = rcl_yaml_node_struct_get("camera", "cam_spec.angle", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->double_value);
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EXPECT_DOUBLE_EQ(2.34, *param_value->double_value);
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res = rcl_parse_yaml_value("camera", "cam_spec.angle", "2.2", params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->double_value);
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EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);
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param_value = rcl_yaml_node_struct_get("intel", "arch", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->string_value);
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EXPECT_STREQ("x86_64", param_value->string_value);
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res = rcl_parse_yaml_value("intel", "arch", "x86", params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->string_value);
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EXPECT_STREQ("x86", param_value->string_value);
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rcl_yaml_node_struct_print(params_hdl);
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}
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TEST(test_file_parser, string_array_with_quoted_number) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "string_array_with_quoted_number.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_yaml_node_struct_fini(params_hdl);
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});
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bool res = rcl_parse_yaml_file(path, params_hdl);
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ASSERT_TRUE(res) << rcutils_get_error_string().str;
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rcl_variant_t * param_value = rcl_yaml_node_struct_get(
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"initial_params_node", "sa2", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->string_array_value);
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ASSERT_EQ(2U, param_value->string_array_value->size);
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EXPECT_STREQ("and", param_value->string_array_value->data[0]);
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EXPECT_STREQ("7", param_value->string_array_value->data[1]);
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res = rcl_parse_yaml_value("initial_params_node", "category", "'0'", params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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param_value = rcl_yaml_node_struct_get("initial_params_node", "category", params_hdl);
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ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
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ASSERT_TRUE(NULL != param_value->string_value);
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EXPECT_STREQ("0", param_value->string_value);
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rcl_yaml_node_struct_print(params_hdl);
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}
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TEST(test_file_parser, multi_ns_correct_syntax) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_yaml_node_struct_fini(params_hdl);
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});
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bool res = rcl_parse_yaml_file(path, params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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rcl_yaml_node_struct_print(params_hdl);
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}
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TEST(test_file_parser, root_ns) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "root_ns.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_yaml_node_struct_fini(params_hdl);
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});
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bool res = rcl_parse_yaml_file(path, params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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rcl_yaml_node_struct_print(params_hdl);
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// Check that there is only one forward slash in the node's FQN.
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// (Regression test for https://github.com/ros2/rcl/pull/299).
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EXPECT_EQ(1u, params_hdl->num_nodes);
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EXPECT_STREQ("/my_node", params_hdl->node_names[0]);
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}
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TEST(test_file_parser, seq_map1) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "seq_map1.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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fprintf(stderr, "%s\n", rcutils_get_error_string().str);
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EXPECT_FALSE(res);
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}
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TEST(test_file_parser, seq_map2) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "seq_map2.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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fprintf(stderr, "%s\n", rcutils_get_error_string().str);
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EXPECT_FALSE(res);
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}
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TEST(test_file_parser, params_with_no_node) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "params_with_no_node.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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fprintf(stderr, "%s\n", rcutils_get_error_string().str);
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EXPECT_FALSE(res);
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}
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TEST(test_file_parser, no_alias_support) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "no_alias_support.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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fprintf(stderr, "%s\n", rcutils_get_error_string().str);
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EXPECT_FALSE(res);
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}
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TEST(test_file_parser, max_string_sz) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "max_string_sz.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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fprintf(stderr, "%s\n", rcutils_get_error_string().str);
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EXPECT_FALSE(res);
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}
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TEST(test_file_parser, empty_string) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "empty_string.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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bool res = rcl_parse_yaml_file(path, params_hdl);
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EXPECT_TRUE(res) << rcutils_get_error_string().str;
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rcl_yaml_node_struct_print(params_hdl);
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}
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TEST(test_file_parser, no_value1) {
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rcutils_reset_error();
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EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * test_path = rcutils_join_path(cur_dir, "test", allocator);
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ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(test_path, allocator.state);
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});
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char * path = rcutils_join_path(test_path, "no_value1.yaml", allocator);
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ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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allocator.deallocate(path, allocator.state);
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});
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ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
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ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
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|
bool res = rcl_parse_yaml_file(path, params_hdl);
|
|
fprintf(stderr, "%s\n", rcutils_get_error_string().str);
|
|
EXPECT_FALSE(res);
|
|
}
|
|
|
|
TEST(test_file_parser, indented_ns) {
|
|
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, "indented_name_space.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;
|
|
bool res = rcl_parse_yaml_file(path, params_hdl);
|
|
fprintf(stderr, "%s\n", rcutils_get_error_string().str);
|
|
EXPECT_FALSE(res);
|
|
}
|
|
|
|
// Regression test for https://github.com/ros2/rcl/issues/419
|
|
TEST(test_file_parser, maximum_number_parameters) {
|
|
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, "max_num_params.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;
|
|
bool res = rcl_parse_yaml_file(path, params_hdl);
|
|
fprintf(stderr, "%s\n", rcutils_get_error_string().str);
|
|
EXPECT_FALSE(res);
|
|
}
|
|
|
|
int32_t main(int32_t argc, char ** argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|