cleanup, added test cases for descriptors, fixed namespaced descriptors

remove MAX_STRING_SIZE comparisons for rebase add new lines Signed-off-by: bpwilcox <[email protected]>
ros2 · Oct 28, 2019 · feb60ac · feb60ac
1 parent fd939c4
commit feb60ac
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Showing 14 changed files with 424 additions and 172 deletions.
diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
@@ -63,15 +63,6 @@ if(BUILD_TESTING)
       PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
   endif()
 
-  ament_add_gtest(test_parse_yaml_descriptors
-    test/test_parse_yaml_descriptors.cpp
-  )
-  if(TARGET test_parse_yaml_descriptors)
-    target_link_libraries(test_parse_yaml_descriptors ${PROJECT_NAME})
-    target_include_directories(test_parse_yaml_descriptors
-      PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
-  endif()
-
 endif()
 
 ament_export_dependencies(ament_cmake)

diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
@@ -79,6 +79,17 @@ 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 value 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

diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h
@@ -83,9 +83,9 @@ typedef struct rcl_param_descriptor_s
   uint8_t * type;
   char * description;
   char * additional_constraints;
-  double * from_value_float;
-  double * to_value_float;
-  double * step_float;
+  double * min_value_double;
+  double * max_value_double;
+  double * step_double;
   int64_t * from_value_int;
   int64_t * to_value_int;
   int64_t * step_int;