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Merged
merged 3 commits into from
Jul 12, 2019
Merged

[YAML Parser] Support parameter value parsing #471

merged 3 commits into from
Jul 12, 2019

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@hidmic
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@hidmic hidmic commented Jul 5, 2019

Closes #246. This pull request extends the YAML parser API to include:

/// \brief Parse a parameter value as a YAML string, updating params_st accordingly
/// \param[in] node_name is the name of the node to which the parameter belongs
/// \param[in] param_name is the name of the parameter whose value will be parsed
/// \param[in] yaml_value is the parameter value as a YAML string to be parsed
/// \param[inout] params_st points to the parameter struct
/// \return true on success and false on failure
RCL_YAML_PARAM_PARSER_PUBLIC
bool rcl_parse_yaml_value(
  const char * node_name,
  const char * param_name,
  const char * yaml_value,
  rcl_params_t * params_st);

This way, parameter addressing information can directly provided along with the parameter value as a YAML string to be parsed.

Depends on #470.

@hidmic hidmic requested a review from wjwwood July 5, 2019 20:49
jacobperron
jacobperron reviewed Jul 8, 2019
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LGTM. Left a few comments below.
I would do a "rebase and merge" to keep the rcl dependency removal in a separate commit from the new function.

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jacobperron commented Jul 8, 2019

I would do a "rebase and merge" to keep the rcl dependency removal in a separate commit from the new function.

Ah, nevermind, I see #470 🙃

@hidmic hidmic force-pushed the hidmic/parse-yaml-value branch from 07e34d4 to a1a833f Compare July 10, 2019 18:54
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hidmic commented Jul 10, 2019

@jacobperron had to rebase after changes got applied to #470, sorry about that. PTAL.

jacobperron
jacobperron reviewed Jul 10, 2019
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rcl_yaml_param_parser/test/test_parse_yaml.cpp
char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path));
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
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If we use ASSERT_*, I think we should make sure to free resources in the event that the assertion fails. We can use the helper OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT to make sure test_path, path, and params_hdl are cleaned up when the test exits.

I guess this should also be added to the other tests as needed.

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@hidmic hidmic Jul 10, 2019 •
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I thought about it, but since it's a test I was less worried about memory freeing. But using OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT sounds like a much better plan.

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Previously, some folks went through and fixed a bunch of leaks detected by ASan jobs (for example). Even though they're just tests, it will make those jobs happy.

jacobperron
jacobperron approved these changes Jul 11, 2019
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LGTM with green CI

hidmic added 3 commits July 12, 2019 11:03
@hidmic
Support parameter YAML string value parsing.
2323b69 
Signed-off-by: Michel Hidalgo <[email protected]>
@hidmic
Address peer review comments.
1d2555e 
- Improve test coverage using new getter API.
- Unify function return style and improve readability.

Signed-off-by: Michel Hidalgo <[email protected]>
@hidmic
Clean up allocations in rcl_yaml_param_parser package tests.
8716384 
Signed-off-by: Michel Hidalgo <[email protected]>
@hidmic hidmic force-pushed the hidmic/parse-yaml-value branch from 9aa69f4 to 8716384 Compare July 12, 2019 14:04
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hidmic commented Jul 12, 2019 •
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Rebased to solve merge conflicts. Running CI (up to system_tests to make sure nothing broke downstream):

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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hidmic commented Jul 12, 2019

Alright, CI is green! Merging.

@hidmic hidmic merged commit 5fde9c0 into master Jul 12, 2019
@delete-merged-branch delete-merged-branch bot deleted the hidmic/parse-yaml-value branch July 12, 2019 18:07
skyegalaxy pushed a commit to irobot-ros/rcl that referenced this pull request Mar 12, 2025
@roger-strain @ivanpauno
Only check for new work once in spin_some (ros2#471) (ros2#844)
b1dc6f3 
To prevent the Executor::spin_some() method for potentially running
indefinitely long.

Distribution Statement A; OPSEC #2893

Signed-off-by: Roger Strain <[email protected]>
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@jacobperron jacobperron jacobperron approved these changes

@wjwwood wjwwood Awaiting requested review from wjwwood wjwwood is a code owner

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[YAML parser] Support command line yaml parameter string

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