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ros_portal_config

Schema-driven YAML configuration parser and config type definitions for ros_portal.

The JSON schema is the source of truth for the C++ config structs used by ROS Portal. RosPortalConfig, its nested structs, enums, and parser are generated from schema/ros_portal_config.schema.json; the main ROS Portal package depends on this package and consumes those generated types directly.

Package Layout

  • schema/ros_portal_config.schema.json: source of truth for the YAML config structure and the generated C++ structs used by ROS Portal.
  • scripts/generate_config_parser.py: reads the schema and builds a small model of the config types, fields, enums, and parser functions.
  • scripts/templates/config_parser.hpp.j2: Jinja2 template for the public C++ API consumed by ROS Portal, including RosPortalConfig, nested config structs, enums, and ConfigParser.
  • scripts/templates/config_parser.cpp.j2: Jinja2 template for the parser implementation and schema-specific validation logic.
  • include/ros_portal_config/config/error.hpp: public exception type thrown when config parsing or validation fails.
  • src/config/utils.hpp and src/config/utils.cpp: schema-agnostic YAML helpers used by the generated parser.
  • test/: unit tests for generated parser behavior and the shared YAML utilities.

Code Generation

CMake runs scripts/generate_config_parser.py during the build. The generator loads schema/ros_portal_config.schema.json, renders the .hpp.j2 and .cpp.j2 templates, and writes generated files under the build directory:

  • generated/config_parser/include/ros_portal_config/config/config_parser.hpp
  • generated/config_parser/src/config/config_parser.cpp

The generated header is installed with the package, so downstream code includes:

#include "ros_portal_config/config/config_parser.hpp"

When adding or changing config fields, update the JSON schema first. The structs used by ROS Portal and the parser validation code are regenerated from that schema on the next build. Template changes should only be needed when changing the generated C++ shape or supporting a new schema feature.

YAML Utilities

src/config/utils.hpp and src/config/utils.cpp keep reusable yaml-cpp validation helpers out of the generated code. They handle common operations such as:

  • building readable field paths like $.ros_portal.topics
  • adding line and column context to errors
  • checking map and sequence nodes
  • converting scalar values
  • rejecting unknown fields

These helpers do not know about RosPortalConfig; schema-specific behavior belongs in the generator and templates.

Tests

config_parser_test verifies the generated parser against representative YAML inputs. config_utils_test covers the schema-independent YAML helper behavior.