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Refactor parser.c for better testability (#754)
* Refactor rcl_yaml_param_parser for better testability Signed-off-by: Stephen Brawner <[email protected]> * Reorder parser.c to match parser.h Signed-off-by: Stephen Brawner <[email protected]> squash! Reorder parser.c to match parser.h * Refactor yaml_variant.c for deduplication Signed-off-by: Stephen Brawner <[email protected]> * ADD_VALUE_TO_SIMPLE_ARRAY for deduplication Signed-off-by: Stephen Brawner <[email protected]> * Remove fprintf Signed-off-by: Stephen Brawner <[email protected]> * PR Fixup Signed-off-by: Stephen Brawner <[email protected]> * Move headers to src directory Signed-off-by: Stephen Brawner <[email protected]> * PR Fixup Signed-off-by: Stephen Brawner <[email protected]> * Rebase #780 Signed-off-by: Stephen Brawner <[email protected]>
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-1586
lines changed

13 files changed

+1900
-1586
lines changed

‎rcl_yaml_param_parser/CMakeLists.txt‎

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@@ -16,7 +16,12 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
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endif()
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set(rcl_yaml_parser_sources
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src/add_to_arrays.c
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src/namespace.c
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src/node_params.c
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src/parse.c
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src/parser.c
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src/yaml_variant.c
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)
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add_library(

‎rcl_yaml_param_parser/src/add_to_arrays.c‎

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// 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 "./impl/add_to_arrays.h"
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#define ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, value_type, allocator) \
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do { \
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if (NULL == val_array->values) { \
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val_array->values = value; \
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val_array->size = 1; \
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} else { \
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/* Increase the array size by one and add the new value */ \
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value_type * tmp_arr = val_array->values; \
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val_array->values = allocator.zero_allocate( \
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val_array->size + 1U, sizeof(value_type), allocator.state); \
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if (NULL == val_array->values) { \
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val_array->values = tmp_arr; \
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RCUTILS_SAFE_FWRITE_TO_STDERR("Error allocating mem\n"); \
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return RCUTILS_RET_BAD_ALLOC; \
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} \
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memcpy(val_array->values, tmp_arr, (val_array->size * sizeof(value_type))); \
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val_array->values[val_array->size] = *value; \
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val_array->size++; \
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allocator.deallocate(value, allocator.state); \
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allocator.deallocate(tmp_arr, allocator.state); \
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} \
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return RCUTILS_RET_OK; \
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} while (0)
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rcutils_ret_t add_val_to_bool_arr(
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rcl_bool_array_t * const val_array,
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bool * value,
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const rcutils_allocator_t allocator)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, bool, allocator);
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}
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///
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/// Add a value to an integer array. Create the array if it does not exist
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///
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rcutils_ret_t add_val_to_int_arr(
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rcl_int64_array_t * const val_array,
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int64_t * value,
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const rcutils_allocator_t allocator)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, int64_t, allocator);
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}
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///
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/// Add a value to a double array. Create the array if it does not exist
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///
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rcutils_ret_t add_val_to_double_arr(
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rcl_double_array_t * const val_array,
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double * value,
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const rcutils_allocator_t allocator)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, double, allocator);
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}
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///
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/// Add a value to a string array. Create the array if it does not exist
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///
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rcutils_ret_t add_val_to_string_arr(
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rcutils_string_array_t * const val_array,
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char * value,
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const rcutils_allocator_t allocator)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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if (NULL == val_array->data) {
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rcutils_ret_t ret = rcutils_string_array_init(val_array, 1, &allocator);
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if (RCUTILS_RET_OK != ret) {
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return ret;
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}
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val_array->data[0U] = value;
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} else {
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/// Increase the array size by one and add the new value
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char ** new_string_arr_ptr = allocator.reallocate(
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val_array->data,
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((val_array->size + 1U) * sizeof(char *)), allocator.state);
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if (NULL == new_string_arr_ptr) {
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RCUTILS_SAFE_FWRITE_TO_STDERR("Error allocating mem\n");
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return RCUTILS_RET_BAD_ALLOC;
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}
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val_array->data = new_string_arr_ptr;
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val_array->data[val_array->size] = value;
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val_array->size++;
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}
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return RCUTILS_RET_OK;
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}

‎rcl_yaml_param_parser/src/impl/add_to_arrays.h‎

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// 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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#ifndef IMPL__ADD_TO_ARRAYS_H_
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#define IMPL__ADD_TO_ARRAYS_H_
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#include <yaml.h>
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#include "rcutils/types.h"
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#include "./types.h"
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#include "rcl_yaml_param_parser/types.h"
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#include "rcl_yaml_param_parser/visibility_control.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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///
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/// Add a value to a bool array. Create the array if it does not exist
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t add_val_to_bool_arr(
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rcl_bool_array_t * const val_array,
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bool * value,
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const rcutils_allocator_t allocator);
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///
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/// Add a value to an integer array. Create the array if it does not exist
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t add_val_to_int_arr(
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rcl_int64_array_t * const val_array,
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int64_t * value,
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const rcutils_allocator_t allocator);
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///
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/// Add a value to a double array. Create the array if it does not exist
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t add_val_to_double_arr(
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rcl_double_array_t * const val_array,
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double * value,
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const rcutils_allocator_t allocator);
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///
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/// Add a value to a string array. Create the array if it does not exist
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t add_val_to_string_arr(
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rcutils_string_array_t * const val_array,
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char * value,
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const rcutils_allocator_t allocator);
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///
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/// TODO (anup.pemmaiah): Support byte array
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///
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#ifdef __cplusplus
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}
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#endif
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#endif // IMPL__ADD_TO_ARRAYS_H_

‎rcl_yaml_param_parser/src/impl/namespace.h‎

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// 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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#ifndef IMPL__NAMESPACE_H_
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#define IMPL__NAMESPACE_H_
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#include <yaml.h>
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#include "rcutils/types.h"
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#include "./types.h"
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#include "rcl_yaml_param_parser/types.h"
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#include "rcl_yaml_param_parser/visibility_control.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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///
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/// Add name to namespace tracker
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t add_name_to_ns(
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namespace_tracker_t * ns_tracker,
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const char * name,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator);
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///
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/// Remove name from namespace tracker
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t rem_name_from_ns(
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namespace_tracker_t * ns_tracker,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator);
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///
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/// Replace namespace in namespace tracker
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t replace_ns(
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namespace_tracker_t * ns_tracker,
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char * const new_ns,
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const uint32_t new_ns_count,
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const namespace_type_t namespace_type,
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rcutils_allocator_t allocator);
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#ifdef __cplusplus
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}
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#endif
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#endif // IMPL__NAMESPACE_H_

‎rcl_yaml_param_parser/src/impl/node_params.h‎

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// 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
10+
// 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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#ifndef IMPL__NODE_PARAMS_H_
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#define IMPL__NODE_PARAMS_H_
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#include "rcl_yaml_param_parser/types.h"
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#include "rcl_yaml_param_parser/visibility_control.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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///
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/// Create rcl_node_params_t structure
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t node_params_init(
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rcl_node_params_t * node_params,
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const rcutils_allocator_t allocator);
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///
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/// Finalize rcl_node_params_t structure
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///
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RCL_YAML_PARAM_PARSER_PUBLIC
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void rcl_yaml_node_params_fini(
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rcl_node_params_t * node_params,
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const rcutils_allocator_t allocator);
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#ifdef __cplusplus
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}
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#endif
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#endif // IMPL__NODE_PARAMS_H_

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