ros2 · jacobperron · Oct 19, 2020 · Sep 22, 2020 · Sep 23, 2020 · Sep 23, 2020
@@ -4,6 +4,7 @@ project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
 find_package(libyaml_vendor REQUIRED)
 
 # Default to C++14
@@ -30,7 +31,7 @@ add_library(
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils")
+ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils" "rmw")
 
 # Set the visibility to hidden by default if possible
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -126,6 +127,7 @@ if(BUILD_TESTING)
   ament_add_gtest(test_parser_multiple_nodes
     test/test_parser_multiple_nodes.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+    TIMEOUT 240  # Large timeout to wait for fault injection tests
   )
   if(TARGET test_parser_multiple_nodes)
     ament_target_dependencies(test_parser_multiple_nodes
@@ -181,6 +183,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)
+ament_export_dependencies(rmw)
 ament_export_include_directories(include)
 install(
   DIRECTORY include/

@@ -14,6 +14,7 @@
 
   <depend>libyaml_vendor</depend>
   <depend>yaml</depend>
+  <depend>rmw</depend>
   <build_depend>rcutils</build_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

@@ -18,13 +18,54 @@
 #include <string.h>
 
 #include "rcutils/allocator.h"
+#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
+#include "rmw/validate_namespace.h"
+#include "rmw/validate_node_name.h"
+
 #include "./impl/add_to_arrays.h"
 #include "./impl/parse.h"
 #include "./impl/namespace.h"
 #include "./impl/node_params.h"
 #include "rcl_yaml_param_parser/parser.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
+
+///
+/// Check a name space whether it is valid
+///
+/// \param[in] namespace the namespace to check
+/// \return RCUTILS_RET_OK if namespace is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if namespace is not valid, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+_validate_namespace(const char * namespace_);
+
+///
+/// Check a node name whether it is valid
+///
+/// \param[in] name the node name to check
+/// \return RCUTILS_RET_OK if the node name is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if node name is not valid, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+_validate_nodename(const char * node_name);
+
+///
+/// Check a name (namespace/node_name) whether it is valid
+///
+/// \param name the name to check
+/// \param allocator an allocator to use
+/// \return RCUTILS_RET_OK if name is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if name is not valid, or
+/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+_validate_name(const char * name, rcutils_allocator_t allocator);
 
 ///
 /// Determine the type of the value and return the converted value
@@ -404,6 +445,138 @@ rcutils_ret_t parse_value(
   return ret;
 }
 
+rcutils_ret_t
+_validate_namespace(const char * namespace_)
+{
+  int validation_result = 0;
+  rmw_ret_t ret;
+  ret = rmw_validate_namespace(namespace_, &validation_result, NULL);
+  if (RMW_RET_OK != ret) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  }
+  if (RMW_NAMESPACE_VALID != validation_result) {
+    RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
+    return RCUTILS_RET_INVALID_ARGUMENT;
+  }
+
+  return RCUTILS_RET_OK;
+}
+
+rcutils_ret_t
+_validate_nodename(const char * node_name)
+{
+  int validation_result = 0;
+  rmw_ret_t ret;
+  ret = rmw_validate_node_name(node_name, &validation_result, NULL);
+  if (RMW_RET_OK != ret) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  }
+  if (RMW_NODE_NAME_VALID != validation_result) {
+    RCUTILS_SET_ERROR_MSG(rmw_node_name_validation_result_string(validation_result));
+    return RCUTILS_RET_INVALID_ARGUMENT;
+  }
+
+  return RCUTILS_RET_OK;
+}
+
+rcutils_ret_t
+_validate_name(const char * name, rcutils_allocator_t allocator)
+{
+  // special rules
+  if (0 == strcmp(name, "/**") || 0 == strcmp(name, "/*")) {
+    return RCUTILS_RET_OK;
+  }
+
+  rcutils_ret_t ret = RCUTILS_RET_OK;
+  char * separator_pos = strrchr(name, '/');
+  char * node_name = NULL;
+  char * absolute_namespace = NULL;
+  if (NULL == separator_pos) {
+    node_name = rcutils_strdup(name, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+  } else {
+    // substring namespace including the last '/'
+    char * namespace_ = rcutils_strndup(name, separator_pos - name + 1, allocator);
+    if (NULL == namespace_) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+    if (namespace_[0] != '/') {
+      absolute_namespace = rcutils_format_string(allocator, "/%s", namespace_);
+      allocator.deallocate(namespace_, allocator.state);
+      if (NULL == absolute_namespace) {
+        ret = RCUTILS_RET_BAD_ALLOC;
+        goto clean;
+      }
+    } else {
+      absolute_namespace = namespace_;
+    }
+
+    node_name = rcutils_strdup(separator_pos + 1, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+  }
+
+  if (absolute_namespace) {
+    size_t i = 0;
+    separator_pos = strchr(absolute_namespace + i + 1, '/');
+    if (NULL == separator_pos) {
+      ret = _validate_namespace(absolute_namespace);
+      if (RCUTILS_RET_OK != ret) {
+        goto clean;
+      }
+    } else {
+      do {
+        size_t len = separator_pos - absolute_namespace - i;
+        char * namespace_ = rcutils_strndup(absolute_namespace + i, len, allocator);
+        if (NULL == namespace_) {
+          ret = RCUTILS_RET_BAD_ALLOC;
+          goto clean;
+        }
+        if (0 == strcmp(namespace_, "/")) {
+          RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+            "%s contains repeated forward slash", absolute_namespace);
+          allocator.deallocate(namespace_, allocator.state);
+          ret = RCUTILS_RET_INVALID_ARGUMENT;
+          goto clean;
+        }
+        if (0 != strcmp(namespace_, "/**") && 0 != strcmp(namespace_, "/*")) {
+          ret = _validate_namespace(namespace_);
+          if (RCUTILS_RET_OK != ret) {
+            allocator.deallocate(namespace_, allocator.state);
+            goto clean;
+          }
+        }
+        allocator.deallocate(namespace_, allocator.state);
+        i += len;
+      } while (NULL != (separator_pos = strchr(absolute_namespace + i + 1, '/')));
+    }
+  }
+
+  if (0 != strcmp(node_name, "*") && 0 != strcmp(node_name, "**")) {
+    ret = _validate_nodename(node_name);
+    if (RCUTILS_RET_OK != ret) {
+      goto clean;
+    }
+  }
+
+clean:
+  if (absolute_namespace) {
+    allocator.deallocate(absolute_namespace, allocator.state);
+  }
+  if (node_name) {
+    allocator.deallocate(node_name, allocator.state);
+  }
+  return ret;
+}
+
 ///
 /// Parse the key part of the <key:value> pair
 ///
@@ -466,6 +639,12 @@ rcutils_ret_t parse_key(
             break;
           }
 
+          ret = _validate_name(node_name_ns, allocator);
+          if (RCUTILS_RET_OK != ret) {
+            allocator.deallocate(node_name_ns, allocator.state);
+            break;
+          }
+
           ret = find_node(node_name_ns, params_st, node_idx);
           allocator.deallocate(node_name_ns, allocator.state);
           if (RCUTILS_RET_OK != ret) {

@@ -0,0 +1,14 @@
+lidar_ns//lidar_w:
+  ros__parameters:
+    id: 10
+    name: front_lidar
+    ports: [2438, 2439, 2440]
+    driver1:
+      dx: 4.56
+      dy: 2.30
+      fr_sensor_specs: [12, 3, 0, 7]
+      bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+    is_front: true
+    driver2:
+      dx: 1.23
+      dy: 0.45