Split parser_yaml.hpp -> {.h, .cpp}

CMakeLists.txt

@@ -287,7 +287,7 @@ SET(HDRS_SOLVER
   )
 
 SET(HDRS_YAML
-  include/core/yaml/parser_yaml.hpp
+  include/core/yaml/parser_yaml.h
   include/core/yaml/yaml_conversion.h
   )
 #SOURCES
@@ -369,6 +369,7 @@ SET(SRCS_SOLVER
   src/solver/solver_manager.cpp
   )
 SET(SRCS_YAML
+  src/yaml/parser_yaml.cpp
   src/yaml/processor_odom_3d_yaml.cpp
   src/yaml/sensor_odom_2d_yaml.cpp
   src/yaml/sensor_odom_3d_yaml.cpp

hello_wolf/hello_wolf_autoconf.cpp

@@ -9,7 +9,7 @@
 // wolf core includes
 #include "core/common/wolf.h"
 #include "core/capture/capture_odom_2d.h"
-#include "core/yaml/parser_yaml.hpp"
+#include "core/yaml/parser_yaml.h"
 #include "core/ceres_wrapper/ceres_manager.h"
 
 // hello wolf local includes

include/core/yaml/parser_yaml.h

+#ifndef PARSER_YAML_H
+#define PARSER_YAML_H
+
+#include "core/utils/converter.h"
+#include "core/common/wolf.h"
+
+#include "yaml-cpp/yaml.h"
+
+namespace wolf
+{
+class ParserYAML {
+    struct ParamsInitSensor{
+        std::string type_;
+        std::string name_;
+        std::string plugin_;
+        YAML::Node n_;
+    };
+    struct ParamsInitProcessor{
+        std::string type_;
+        std::string name_;
+        std::string name_assoc_sensor_;
+        std::string plugin_;
+        YAML::Node n_;
+    };
+    struct SubscriberManager{
+        std::string package_;
+        std::string subscriber_;
+        std::string topic_;
+        std::string sensor_name_;
+        YAML::Node n_;
+    };
+    struct PublisherManager{
+        std::string subscriber_;
+        std::string topic_;
+        std::string period_;
+        YAML::Node n_;
+    };
+    std::map<std::string, std::string> params_;
+    std::string active_name_;
+    std::vector<ParamsInitSensor> paramsSens_;
+    std::vector<ParamsInitProcessor> paramsProc_;
+    std::stack<std::string> parsing_file_;
+    std::string file_;
+    std::string path_root_;
+    std::vector<SubscriberManager> subscriber_managers_;
+    std::vector<PublisherManager> publisher_managers_;
+    YAML::Node problem;
+    std::string generatePath(std::string);
+    YAML::Node loadYAML(std::string);
+    void insert_register(std::string, std::string);
+public:
+    ParserYAML(std::string _file, std::string _path_root = "",
+               bool _freely_parse = false);
+    ~ParserYAML()
+    {
+        //
+    }
+    void parse_freely();
+    std::map<std::string, std::string> getParams();
+
+  private:
+    void walkTree(std::string _file);
+    void walkTree(std::string _file, std::vector<std::string>& _tags);
+    void walkTree(std::string _file, std::vector<std::string>& _tags, std::string _hdr);
+/** @Brief Recursively walks the YAML tree while filling a map with the values parsed from the file
+ * @param YAML node to be parsed
+ * @param tags represents the path from the root of the YAML tree to the current node
+ * @param hdr is the name of the current YAML node
+ */
+    void walkTreeR(YAML::Node _n, std::vector<std::string>& _tags, std::string _hdr);
+    void updateActiveName(std::string _tag);
+/** @Brief Parse the sensors, processors, callbacks and files elements of the YAML file. We assume that these elements
+    are defined at the top level of the YAML file.
+ * @param file is the path to the YAML file */
+    void parseFirstLevel(std::string _file);
+    std::string tagsToString(std::vector<std::string>& _tags);
+    void parse();
+};
+}
+#endif

test/gtest_param_server.cpp

 #include "core/utils/utils_gtest.h"
 #include "core/utils/converter.h"
 #include "core/common/wolf.h"
-#include "core/yaml/parser_yaml.hpp"
+#include "core/yaml/parser_yaml.h"
 #include "core/utils/params_server.hpp"
 
 using namespace std;

test/gtest_parser_yaml.cpp

 #include "core/utils/utils_gtest.h"
 #include "core/utils/converter.h"
 #include "core/common/wolf.h"
-#include "core/yaml/parser_yaml.hpp"
+#include "core/yaml/parser_yaml.h"
 
 using namespace std;
 using namespace wolf;