Better error reporting for the YAML parser

include/core/yaml/parser_yaml.hpp

@@ -186,6 +186,7 @@ class ParserYAML {
     std::vector<std::array<std::string, 3>> _callbacks;
     YAML::Node problem;
     std::string generatePath(std::string);
+    YAML::Node loadYAML(std::string);
 public:
     ParserYAML(){
         _params = std::map<std::string, std::string>();
@@ -252,6 +253,13 @@ std::string ParserYAML::generatePath(std::string path){
         return _path_root + path;
     }
 }
+YAML::Node ParserYAML::loadYAML(std::string file){
+  try{
+    return YAML::LoadFile(generatePath(file));
+  }catch (YAML::BadFile& e){
+    throw std::runtime_error("Couldn't load file " + generatePath(file));
+  }
+}
 std::string ParserYAML::tagsToString(std::vector<std::string> &tags){
     std::string hdr = "";
     for(auto it : tags){
@@ -262,20 +270,20 @@ std::string ParserYAML::tagsToString(std::vector<std::string> &tags){
 void ParserYAML::walkTree(std::string file){
     YAML::Node n;
     std::cout << "Parsing " << generatePath(file) << std::endl;
-    n = YAML::LoadFile(generatePath(file));
+    n = loadYAML(generatePath(file));
     std::vector<std::string> hdrs = std::vector<std::string>();
     walkTreeR(n, hdrs, "");
 }
 void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags){
     YAML::Node n;
     std::cout << "Parsing " << generatePath(file) << std::endl;
-    n = YAML::LoadFile(generatePath(file));
+    n = loadYAML(generatePath(file));
     walkTreeR(n, tags, "");
 }
 void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags, std::string hdr){
     YAML::Node n;
     std::cout << "Parsing " << generatePath(file) << std::endl;
-    n = YAML::LoadFile(generatePath(file));
+    n = loadYAML(generatePath(file));
     walkTreeR(n, tags, hdr);
 }
 /** @Brief Recursively walks the YAML tree while filling a map with the values parsed from the file
@@ -365,18 +373,28 @@ void ParserYAML::updateActiveName(std::string tag){
 void ParserYAML::parseFirstLevel(std::string file){
     YAML::Node n;
     std::cout << "Parsing " << generatePath(file) << std::endl;
-    n = YAML::LoadFile(generatePath(file));
+    n = loadYAML(generatePath(file));
 
     YAML::Node n_config = n["config"];
-    assert(n_config.Type() == YAML::NodeType::Map && "trying to parse config node but found a non-Map node");
+    // assert(n_config.Type() == YAML::NodeType::Map && "trying to parse config node but found a non-Map node");
+    if(n_config.Type() != YAML::NodeType::Map) throw std::runtime_error("Could not find config node. Please make sure that your YAML file " + generatePath(file) + " starts with 'config:'");
+    if(n_config["problem"].Type() != YAML::NodeType::Map) throw std::runtime_error("Could not find problem node. Please make sure that the 'config' node in YAML file " + generatePath(file) + " has a 'problem' entry");
     this->problem = n_config["problem"];
-    for(const auto& kv : n_config["sensors"]){
+    try{
+      for(const auto& kv : n_config["sensors"]){
         ParamsInitSensor pSensor = {kv["type"].Scalar(), kv["name"].Scalar(), kv};
         _paramsSens.push_back(pSensor);
+      }
+    } catch(YAML::InvalidNode& e){
+      throw std::runtime_error("Error parsing sensors. Please make sure that each sensor entry has 'type' and 'name' entries.");
     }
-    for(const auto& kv : n_config["processors"]){
+    try{
+      for(const auto& kv : n_config["processors"]){
         ParamsInitProcessor pProc = {kv["type"].Scalar(), kv["name"].Scalar(), kv["sensor_name"].Scalar(), kv};
         _paramsProc.push_back(pProc);
+      }
+    } catch(YAML::InvalidNode& e){
+      throw std::runtime_error("Error parsing processors. Please make sure that each processor has 'type', 'name' and 'sensor_name' entries.");
     }
     for(const auto& kv : n_config["callbacks"]){
         _callbacks.push_back({{kv[0].as<std::string>(), kv[1].as<std::string>(), kv[2].as<std::string>()}});

test/yaml/params3.yaml

 config:
-  # problem:
-  #   frame_structure: "POV"
-  #   dimension: 2
+  problem:
+    frame_structure: "POV"
+    dimension: 2
   sensors:
     -
       type: "ODOM 2D"