[foxy backport] Refactor parser.c for better testability (#754)

rcl_yaml_param_parser/CMakeLists.txt

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

rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h

@@ -14,6 +14,8 @@
 #ifndef RCL_YAML_PARAM_PARSER__TYPES_H_
 #define RCL_YAML_PARAM_PARSER__TYPES_H_
 
+#include <stdint.h>
+
 #include "rcutils/allocator.h"
 #include "rcutils/types/string_array.h"
 

rcl_yaml_param_parser/src/add_to_arrays.c

@@ -0,0 +1,121 @@
+// Copyright 2018 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./impl/add_to_arrays.h"
+
+#include "rcutils/error_handling.h"
+
+#define ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, value_type, allocator) \
+  do { \
+    if (NULL == val_array->values) { \
+      val_array->values = value; \
+      val_array->size = 1; \
+    } else { \
+      /* Increase the array size by one and add the new value */ \
+      value_type * tmp_arr = val_array->values; \
+      val_array->values = allocator.zero_allocate( \
+        val_array->size + 1U, sizeof(value_type), allocator.state); \
+      if (NULL == val_array->values) { \
+        val_array->values = tmp_arr; \
+        RCUTILS_SAFE_FWRITE_TO_STDERR("Error allocating mem\n"); \
+        return RCUTILS_RET_BAD_ALLOC; \
+      } \
+      memcpy(val_array->values, tmp_arr, (val_array->size * sizeof(value_type))); \
+      val_array->values[val_array->size] = *value; \
+      val_array->size++; \
+      allocator.deallocate(value, allocator.state); \
+      allocator.deallocate(tmp_arr, allocator.state); \
+    } \
+    return RCUTILS_RET_OK; \
+  } while (0)
+
+rcutils_ret_t add_val_to_bool_arr(
+  rcl_bool_array_t * const val_array,
+  bool * value,
+  const rcutils_allocator_t allocator)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    &allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
+
+  ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, bool, allocator);
+}
+
+///
+/// Add a value to an integer array. Create the array if it does not exist
+///
+rcutils_ret_t add_val_to_int_arr(
+  rcl_int64_array_t * const val_array,
+  int64_t * value,
+  const rcutils_allocator_t allocator)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    &allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
+
+  ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, int64_t, allocator);
+}
+
+///
+/// Add a value to a double array. Create the array if it does not exist
+///
+rcutils_ret_t add_val_to_double_arr(
+  rcl_double_array_t * const val_array,
+  double * value,
+  const rcutils_allocator_t allocator)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    &allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
+
+  ADD_VALUE_TO_SIMPLE_ARRAY(val_array, value, double, allocator);
+}
+
+///
+/// Add a value to a string array. Create the array if it does not exist
+///
+rcutils_ret_t add_val_to_string_arr(
+  rcutils_string_array_t * const val_array,
+  char * value,
+  const rcutils_allocator_t allocator)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(val_array, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    &allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
+
+  if (NULL == val_array->data) {
+    rcutils_ret_t ret = rcutils_string_array_init(val_array, 1, &allocator);
+    if (RCUTILS_RET_OK != ret) {
+      return ret;
+    }
+    val_array->data[0U] = value;
+  } else {
+    /// Increase the array size by one and add the new value
+    char ** new_string_arr_ptr = allocator.reallocate(
+      val_array->data,
+      ((val_array->size + 1U) * sizeof(char *)), allocator.state);
+    if (NULL == new_string_arr_ptr) {
+      RCUTILS_SAFE_FWRITE_TO_STDERR("Error allocating mem\n");
+      return RCUTILS_RET_BAD_ALLOC;
+    }
+    val_array->data = new_string_arr_ptr;
+    val_array->data[val_array->size] = value;
+    val_array->size++;
+  }
+  return RCUTILS_RET_OK;
+}

rcl_yaml_param_parser/src/impl/add_to_arrays.h

@@ -0,0 +1,79 @@
+// Copyright 2018 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IMPL__ADD_TO_ARRAYS_H_
+#define IMPL__ADD_TO_ARRAYS_H_
+
+#include <yaml.h>
+
+#include "rcutils/types.h"
+
+#include "./types.h"
+#include "rcl_yaml_param_parser/types.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+///
+/// Add a value to a bool array. Create the array if it does not exist
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t add_val_to_bool_arr(
+  rcl_bool_array_t * const val_array,
+  bool * value,
+  const rcutils_allocator_t allocator);
+
+///
+/// Add a value to an integer array. Create the array if it does not exist
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t add_val_to_int_arr(
+  rcl_int64_array_t * const val_array,
+  int64_t * value,
+  const rcutils_allocator_t allocator);
+
+///
+/// Add a value to a double array. Create the array if it does not exist
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t add_val_to_double_arr(
+  rcl_double_array_t * const val_array,
+  double * value,
+  const rcutils_allocator_t allocator);
+
+///
+/// Add a value to a string array. Create the array if it does not exist
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t add_val_to_string_arr(
+  rcutils_string_array_t * const val_array,
+  char * value,
+  const rcutils_allocator_t allocator);
+
+///
+/// TODO (anup.pemmaiah): Support byte array
+///
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMPL__ADD_TO_ARRAYS_H_

rcl_yaml_param_parser/src/impl/namespace.h

@@ -0,0 +1,68 @@
+// Copyright 2018 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IMPL__NAMESPACE_H_
+#define IMPL__NAMESPACE_H_
+
+#include <yaml.h>
+
+#include "rcutils/types.h"
+
+#include "./types.h"
+#include "rcl_yaml_param_parser/types.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+///
+/// Add name to namespace tracker
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t add_name_to_ns(
+  namespace_tracker_t * ns_tracker,
+  const char * name,
+  const namespace_type_t namespace_type,
+  rcutils_allocator_t allocator);
+
+///
+/// Remove name from namespace tracker
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t rem_name_from_ns(
+  namespace_tracker_t * ns_tracker,
+  const namespace_type_t namespace_type,
+  rcutils_allocator_t allocator);
+
+///
+/// Replace namespace in namespace tracker
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t replace_ns(
+  namespace_tracker_t * ns_tracker,
+  char * const new_ns,
+  const uint32_t new_ns_count,
+  const namespace_type_t namespace_type,
+  rcutils_allocator_t allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMPL__NAMESPACE_H_

rcl_yaml_param_parser/src/impl/node_params.h

@@ -0,0 +1,47 @@
+// Copyright 2018 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IMPL__NODE_PARAMS_H_
+#define IMPL__NODE_PARAMS_H_
+
+#include "rcl_yaml_param_parser/types.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+///
+/// Create rcl_node_params_t structure
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t node_params_init(
+  rcl_node_params_t * node_params,
+  const rcutils_allocator_t allocator);
+
+///
+/// Finalize rcl_node_params_t structure
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+void rcl_yaml_node_params_fini(
+  rcl_node_params_t * node_params,
+  const rcutils_allocator_t allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMPL__NODE_PARAMS_H_