Parse parameter descriptors in yaml

rcl_yaml_param_parser/CMakeLists.txt

@@ -22,9 +22,11 @@ endif()
 set(rcl_yaml_parser_sources
   src/add_to_arrays.c
   src/namespace.c
+  src/node_params_descriptors.c
   src/node_params.c
   src/parse.c
   src/parser.c
+  src/yaml_descriptor.c
   src/yaml_variant.c
 )
 
@@ -92,6 +94,18 @@ if(BUILD_TESTING)
     target_link_libraries(test_node_params ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_node_params_descriptors
+    test/test_node_params_descriptors.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_node_params_descriptors)
+    ament_target_dependencies(test_node_params_descriptors
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_node_params_descriptors ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_parse_yaml
     test/test_parse_yaml.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -166,6 +180,18 @@ if(BUILD_TESTING)
     target_link_libraries(test_yaml_variant ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_yaml_descriptor
+    test/test_yaml_descriptor.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_yaml_descriptor)
+    ament_target_dependencies(test_yaml_descriptor
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_yaml_descriptor ${PROJECT_NAME})
+  endif()
+
   add_performance_test(benchmark_parse_yaml test/benchmark/benchmark_parse_yaml.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}")
   if(TARGET benchmark_parse_yaml)

rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h

@@ -119,6 +119,17 @@ rcl_variant_t * rcl_yaml_node_struct_get(
   const char * param_name,
   rcl_params_t * params_st);
 
+/// \brief Get the descriptor struct for a given parameter
+/// \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 descriptor is to be retrieved
+/// \param[inout] params_st points to the populated (or to be populated) parameter struct
+/// \return parameter descriptor struct on success and NULL on failure
+RCL_YAML_PARAM_PARSER_PUBLIC
+rcl_param_descriptor_t * rcl_yaml_node_struct_get_descriptor(
+  const char * node_name,
+  const char * param_name,
+  rcl_params_t * params_st);
+
 /// \brief Print the parameter structure to stdout
 /// \param[in] params_st points to the populated parameter struct
 RCL_YAML_PARAM_PARSER_PUBLIC

rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h

@@ -95,6 +95,33 @@ typedef struct rcl_node_params_s
   size_t capacity_params;  ///< Capacity of parameters in the node
 } rcl_node_params_t;
 
+/// \typedef rcl_param_descriptor_t
+/// \brief param_descriptor_t stores the descriptor of a parameter
+typedef struct rcl_param_descriptor_s
+{
+  bool * read_only;
+  bool * dynamic_typing;
+  uint8_t * type;
+  char * description;
+  char * additional_constraints;
+  double * min_value_double;
+  double * max_value_double;
+  double * step_double;
+  int64_t * min_value_int;
+  int64_t * max_value_int;
+  int64_t * step_int;
+} rcl_param_descriptor_t;
+
+/// \typedef rcl_node_params_descriptors_t
+/// \brief node_params_descriptors_t stores all the parameter descriptors of a single node
+typedef struct rcl_node_params_descriptors_s
+{
+  char ** parameter_names;  ///< Array of parameter names (keys)
+  rcl_param_descriptor_t * parameter_descriptors;  ///< Array of corresponding parameter descriptors
+  size_t num_descriptors;  ///< Number of parameters in the node
+  size_t capacity_descriptors;  ///< Capacity of parameters in the node
+} rcl_node_params_descriptors_t;
+
 /// stores all the parameters of all nodes of a process
 /*
 * \typedef rcl_params_t
@@ -103,6 +130,7 @@ typedef struct rcl_params_s
 {
   char ** node_names;  ///< List of names of the node
   rcl_node_params_t * params;  ///<  Array of parameters
+  rcl_node_params_descriptors_t * descriptors;  ///<  Array of parameter descriptors
   size_t num_nodes;       ///< Number of nodes
   size_t capacity_nodes;  ///< Capacity of nodes
   rcutils_allocator_t allocator;  ///< Allocator used

rcl_yaml_param_parser/src/impl/node_params_descriptors.h

@@ -0,0 +1,69 @@
+// 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_DESCRIPTORS_H_
+#define IMPL__NODE_PARAMS_DESCRIPTORS_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_descriptors_t structure
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t node_params_descriptors_init(
+  rcl_node_params_descriptors_t * node_descriptors,
+  const rcutils_allocator_t allocator);
+
+///
+/// Create rcl_node_params_descriptors_t structure with a capacity
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t node_params_descriptors_init_with_capacity(
+  rcl_node_params_descriptors_t * node_descriptors,
+  size_t capacity,
+  const rcutils_allocator_t allocator);
+
+///
+/// Reallocate rcl_node_params_descriptors_t structure with a new capacity
+/// \post the address of \p parameter_names in \p node_params might be changed
+/// even if the result value is `RCL_RET_BAD_ALLOC`.
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t node_params_descriptors_reallocate(
+  rcl_node_params_descriptors_t * node_descriptors,
+  size_t new_capacity,
+  const rcutils_allocator_t allocator);
+
+///
+/// Finalize rcl_node_params_descriptors_t structure
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+void rcl_yaml_node_params_descriptors_fini(
+  rcl_node_params_descriptors_t * node_descriptors,
+  const rcutils_allocator_t allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMPL__NODE_PARAMS_DESCRIPTORS_H_

rcl_yaml_param_parser/src/impl/parse.h

@@ -46,6 +46,16 @@ rcutils_ret_t parse_value(
   data_types_t * seq_data_type,
   rcl_params_t * params_st);
 
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t parse_descriptor(
+  namespace_tracker_t * ns_tracker,
+  const yaml_event_t event,
+  const bool is_seq,
+  const size_t node_idx,
+  const size_t parameter_idx,
+  rcl_params_t * params_st);
+
 RCL_YAML_PARAM_PARSER_PUBLIC
 RCUTILS_WARN_UNUSED
 rcutils_ret_t parse_key(
@@ -87,6 +97,14 @@ rcutils_ret_t find_parameter(
   rcl_params_t * param_st,
   size_t * parameter_idx);
 
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t find_descriptor(
+  const size_t node_idx,
+  const char * parameter_name,
+  rcl_params_t * param_st,
+  size_t * parameter_idx);
+
 #ifdef __cplusplus
 }
 #endif

rcl_yaml_param_parser/src/impl/types.h

@@ -28,6 +28,7 @@ extern "C"
 #endif
 
 #define PARAMS_KEY "ros__parameters"
+#define PARAMS_DESCRIPTORS_KEY "ros__parameter_descriptors"
 #define NODE_NS_SEPERATOR "/"
 #define PARAMETER_NS_SEPERATOR "."
 
@@ -36,6 +37,7 @@ typedef enum yaml_map_lvl_e
   MAP_UNINIT_LVL = 0U,
   MAP_NODE_NAME_LVL = 1U,
   MAP_PARAMS_LVL = 2U,
+  MAP_PARAMS_DESCRIPTORS_LVL = 3U,
 } yaml_map_lvl_t;
 
 /// Basic supported data types in the yaml file
@@ -51,7 +53,8 @@ typedef enum data_types_e
 typedef enum namespace_type_e
 {
   NS_TYPE_NODE = 1U,
-  NS_TYPE_PARAM = 2U
+  NS_TYPE_PARAM = 2U,
+  NS_TYPE_DESCRIPTOR = 3U
 } namespace_type_t;
 
 /// Keep track of node and parameter name spaces
@@ -61,6 +64,8 @@ typedef struct namespace_tracker_s
   uint32_t num_node_ns;
   char * parameter_ns;
   uint32_t num_parameter_ns;
+  char * descriptor_key_ns;
+  uint32_t num_descriptor_key_ns;
 } namespace_tracker_t;
 
 #ifdef __cplusplus

rcl_yaml_param_parser/src/impl/yaml_descriptor.h

@@ -0,0 +1,51 @@
+// 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__YAML_DESCRIPTOR_H_
+#define IMPL__YAML_DESCRIPTOR_H_
+
+#include "rcutils/allocator.h"
+
+#include "./types.h"
+#include "rcl_yaml_param_parser/types.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+///
+/// Finalize an rcl_param_descriptor_t
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+void rcl_yaml_descriptor_fini(
+  rcl_param_descriptor_t * param_desc,
+  const rcutils_allocator_t allocator);
+
+///
+/// Copy a rcl_param_descriptor_t from param_desc to out_param_desc
+///
+RCL_YAML_PARAM_PARSER_PUBLIC
+RCUTILS_WARN_UNUSED
+bool rcl_yaml_descriptor_copy(
+  rcl_param_descriptor_t * out_param_desc,
+  const rcl_param_descriptor_t * param_desc,
+  rcutils_allocator_t allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMPL__YAML_DESCRIPTOR_H_

rcl_yaml_param_parser/src/namespace.c

@@ -184,6 +184,16 @@ rcutils_ret_t replace_ns(
       }
       ns_tracker->num_parameter_ns = new_ns_count;
       break;
+    case NS_TYPE_DESCRIPTOR:
+      if (NULL != ns_tracker->descriptor_key_ns) {
+        allocator.deallocate(ns_tracker->descriptor_key_ns, allocator.state);
+      }
+      ns_tracker->descriptor_key_ns = rcutils_strdup(new_ns, allocator);
+      if (NULL == ns_tracker->descriptor_key_ns) {
+        return RCUTILS_RET_BAD_ALLOC;
+      }
+      ns_tracker->num_descriptor_key_ns = new_ns_count;
+      break;
     default:
       res = RCUTILS_RET_ERROR;
       break;