Fix yaml parser error when meets .nan

rcl_yaml_param_parser/src/parser.c

@@ -21,6 +21,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <yaml.h>
+#include <ctype.h>
 
 #include "rcl_yaml_param_parser/parser.h"
 #include "rcl_yaml_param_parser/types.h"
@@ -1105,7 +1106,23 @@ static void * get_value(
   {
     errno = 0;
     endptr = NULL;
-    dval = strtod(value, &endptr);
+    char * tmp_value = NULL;
+    if ((0 == strcasecmp(value, ".nan")) ||
+      (0 == strcasecmp(value, ".inf")) ||
+      (0 == strcasecmp(value, "+.inf")) ||
+      (0 == strcasecmp(value, "-.inf")) ||
+      (0 == strcasecmp(value, ".infinity")) ||
+      (0 == strcasecmp(value, "+.infinity")) ||
+      (0 == strcasecmp(value, "-.infinity")))
+    {
+      tmp_value = rcutils_strdup(value, allocator);
+      for ( ; !isalpha(*tmp_value); ) {
+        tmp_value += 1;
+      }
+      dval = strtod(tmp_value, &endptr);
+    } else {
+      dval = strtod(value, &endptr);
+    }
     if ((0 == errno) && (NULL != endptr)) {
       if ((NULL != endptr) && (endptr != value)) {
         if (('\0' != *value) && ('\0' == *endptr)) {

rcl_yaml_param_parser/test/special_float1.yaml

@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      test_nan: [1.1, 2.2, .nan, .NAN]
+      test_inf: [4.4, 5.5, .inf, +.inf, -.INF, +.infinity, -.INFINITY]

rcl_yaml_param_parser/test/special_float2.yaml

@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+lidar_ns:
+  lidar_1:
+    ros__parameters:
+      test_nan: [1.1, 2.2, nananana]
+      test_nan2: [3.3, nanananan]

rcl_yaml_param_parser/test/test_parse_yaml.cpp

@@ -497,6 +497,54 @@ TEST(test_file_parser, maximum_number_parameters) {
   // No cleanup, rcl_parse_yaml_file takes care of that if it fails.
 }
 
+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);
+  });
+
+  // Test special float point with correct value.
+  {
+    char * path = rcutils_join_path(test_path, "special_float1.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;
+  }
+
+  // Test special float point with improperly value.
+  {
+    char * path = rcutils_join_path(test_path, "special_float2.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);
+    // No cleanup, rcl_parse_yaml_file takes care of that if it fails.
+  }
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);