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Fix yaml parser error when meets .nan #741

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Fix yaml parser error when meets .nan #741

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2fb4342
Fix yaml parser error when meets .nan
Ada-King Aug 12, 2020
d12c0f1
Correct code style
Ada-King Aug 12, 2020
d326731
Modify as suggested
Ada-King Aug 18, 2020
8d466b2
Improve test
Ada-King Aug 19, 2020
838881e
Fix minor flaw
Ada-King Aug 20, 2020
399c835
Fix minor flaw again
Ada-King Aug 20, 2020
56a398b
Satisfy windows CI
Ada-King Aug 21, 2020
1771cd9
Change the match rule for special float
Ada-King Aug 25, 2020
5eb83f4
Distinguish +.inf and -.inf
Ada-King Aug 26, 2020
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26 changes: 25 additions & 1 deletion rcl_yaml_param_parser/src/parser.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -1105,7 +1106,30 @@ static void * get_value(
{
errno = 0;
endptr = NULL;
dval = strtod(value, &endptr);
const char * iter_ptr = NULL;
if ((0 == strcmp(value, ".nan")) ||
(0 == strcmp(value, ".NaN")) ||
(0 == strcmp(value, ".NAN")) ||
(0 == strcmp(value, ".inf")) ||
(0 == strcmp(value, ".Inf")) ||
(0 == strcmp(value, ".INF")) ||
(0 == strcmp(value, "+.inf")) ||
(0 == strcmp(value, "+.Inf")) ||
(0 == strcmp(value, "+.INF")) ||
(0 == strcmp(value, "-.inf")) ||
(0 == strcmp(value, "-.Inf")) ||
(0 == strcmp(value, "-.INF")))
Comment on lines +1110 to +1121
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Once we get ros2/rcutils#280 in, we can change this code to use rcutils_strcasecmp.

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Once we get ros2/rcutils#280 in, we can change this code to use rcutils_strcasecmp.

@clalancette
FYI (#741 (comment))
The yaml spec only allows specific formats.

Besides, the existed build error doesn't seem to be caused by this PR.

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I checked it, the build error result from #727, the rcutils dependency has been merged, but build system still based on ros-rolling-rcutils: 1.1.0, which is the problem.

Anyway, this has no effect on this merge process.

{
for (iter_ptr = value; !isalpha(*iter_ptr); ) {
iter_ptr += 1;
}
dval = strtod(iter_ptr, &endptr);
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if (*value == '-') {
dval = -dval;
}
} else {
dval = strtod(value, &endptr);
}
if ((0 == errno) && (NULL != endptr)) {
if ((NULL != endptr) && (endptr != value)) {
if (('\0' != *value) && ('\0' == *endptr)) {
Expand Down
4 changes: 4 additions & 0 deletions rcl_yaml_param_parser/test/special_float.yaml
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@@ -0,0 +1,4 @@
test_node:
ros__parameters:
isstring: [string, .nananan, .nAN, .Nan, .infinf, .INf, .infinity]
nan_inf: [1.1, 2.2, .nan, .NAN, .inf, +.Inf, -.INF]
50 changes: 49 additions & 1 deletion rcl_yaml_param_parser/test/test_parse_yaml.cpp
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Expand Up @@ -12,9 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <stdio.h>
#include <gtest/gtest.h>

#include <cmath>

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "rcl_yaml_param_parser/parser.h"
Expand Down Expand Up @@ -497,6 +498,53 @@ TEST(test_file_parser, maximum_number_parameters) {
// No cleanup, rcl_parse_yaml_file takes care of that if it fails.
}

// Test special float point(https://github.com/ros2/rcl/issues/555).
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);
});
char * path = rcutils_join_path(test_path, "special_float.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;
rcl_variant_t * param_value = rcl_yaml_node_struct_get("test_node", "isstring", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->string_array_value);
EXPECT_STREQ(".nananan", param_value->string_array_value->data[1]);
EXPECT_STREQ(".nAN", param_value->string_array_value->data[2]);
EXPECT_STREQ(".infinf", param_value->string_array_value->data[4]);
EXPECT_STREQ(".INf", param_value->string_array_value->data[5]);
param_value = rcl_yaml_node_struct_get(
"test_node", "nan_inf", params_hdl);
ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
ASSERT_TRUE(NULL != param_value->double_array_value);
ASSERT_EQ(7U, param_value->double_array_value->size);
EXPECT_FALSE(std::isnan(param_value->double_array_value->values[1]));
EXPECT_TRUE(std::isnan(param_value->double_array_value->values[2]));
EXPECT_TRUE(std::isnan(param_value->double_array_value->values[3]));
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[4]));
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@Ada-King

About inf, there are positive infinity and negative infinity.
isinf(x) returns 1 if x is positive infinity, and -1 if x is negative infinity.

Maybe it should be

EXPECT_TRUE(std::isinf(param_value->double_array_value->values[4]) == 1);
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[5]) == -1);

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Ok, that make sense

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The type of return value in c++ is bool, so the current test is sufficient.

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Sorry, It's my bad (not to check the c++ version).
I will use c version isinf to check the result accurately, anyway, it's up to you.

EXPECT_TRUE(std::isinf(param_value->double_array_value->values[5]));
EXPECT_TRUE(std::isinf(param_value->double_array_value->values[6]));
}

int32_t main(int32_t argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);
Expand Down