Validate YAML tags on parsing

Signed-off-by: tempate <[email protected]>

ddsrecorder_yaml/include/ddsrecorder_yaml/recorder/YamlReaderConfiguration.hpp

@@ -114,6 +114,10 @@ class DDSRECORDER_YAML_DllAPI RecorderConfiguration
             const Yaml& yml,
             const ddspipe::yaml::YamlReaderVersion& version);
 
+    void load_output_configuration_(
+            const Yaml& yml,
+            const ddspipe::yaml::YamlReaderVersion& version);
+
     void load_controller_configuration_(
             const Yaml& yml,
             const ddspipe::yaml::YamlReaderVersion& version);

ddsrecorder_yaml/src/cpp/recorder/YamlReader.cpp

@@ -15,6 +15,7 @@
 #include <mcap/mcap.hpp>
 
 #include <ddspipe_yaml/YamlReader.hpp>
+#include <ddspipe_yaml/YamlValidator.hpp>
 
 #include <ddsrecorder_yaml/recorder/yaml_configuration_tags.hpp>
 
@@ -30,6 +31,14 @@ YamlReader::get<mcap::McapWriterOptions>(
         const Yaml& yml,
         const YamlReaderVersion version)
 {
+    const std::set<TagType> tags = {
+        RECORDER_COMPRESSION_SETTINGS_ALGORITHM_TAG,
+        RECORDER_COMPRESSION_SETTINGS_LEVEL_TAG,
+        RECORDER_COMPRESSION_SETTINGS_FORCE_TAG,
+    };
+
+    YamlValidator::validate_tags(yml, tags);
+
     mcap::McapWriterOptions mcap_writer_options{"ros2"};
 
     // Parse optional compression algorithm

ddsrecorder_yaml/src/cpp/recorder/YamlReaderConfiguration.cpp

@@ -29,6 +29,7 @@
 #include <ddspipe_yaml/yaml_configuration_tags.hpp>
 #include <ddspipe_yaml/Yaml.hpp>
 #include <ddspipe_yaml/YamlManager.hpp>
+#include <ddspipe_yaml/YamlValidator.hpp>
 
 #include <ddsrecorder_yaml/recorder/yaml_configuration_tags.hpp>
 #include <ddsrecorder_yaml/recorder/YamlReaderConfiguration.hpp>
@@ -122,6 +123,14 @@ void RecorderConfiguration::load_ddsrecorder_configuration_(
         recorder_configuration->app_metadata = "";
         recorder_configuration->is_repeater = false;
 
+        const std::set<TagType> tags{
+            RECORDER_RECORDER_TAG,
+            SPECS_TAG,
+            RECORDER_DDS_TAG,
+            RECORDER_REMOTE_CONTROLLER_TAG};
+
+        YamlValidator::validate_tags(yml, tags);
+
         /////
         // Get optional Recorder configuration options
         if (YamlReader::is_tag_present(yml, RECORDER_RECORDER_TAG))
@@ -136,7 +145,6 @@ void RecorderConfiguration::load_ddsrecorder_configuration_(
 
         /////
         // Get optional specs configuration
-        // WARNING: Parse builtin topics (dds tag) AFTER specs, as some topic-specific default values are set there
         if (YamlReader::is_tag_present(yml, SPECS_TAG))
         {
             auto specs_yml = YamlReader::get_value_in_tag(yml, SPECS_TAG);
@@ -153,7 +161,7 @@ void RecorderConfiguration::load_ddsrecorder_configuration_(
 
         // Block ROS 2 services (RPC) topics
         // RATIONALE:
-        // At the time of this writting, services in ROS 2 behave in the following manner: a ROS 2 service
+        // At the time of this writing, services in ROS 2 behave in the following manner: a ROS 2 service
         // client awaits to discover a server, and it is then when a request is sent to this (and only this) server,
         // from which a response is expected.
         // Hence, if these topics are not blocked, the client would wrongly believe DDS-Recorder is a server, thus
@@ -210,6 +218,18 @@ void RecorderConfiguration::load_recorder_configuration_(
         const Yaml& yml,
         const YamlReaderVersion& version)
 {
+    const std::set<TagType> tags{
+        RECORDER_OUTPUT_TAG,
+        RECORDER_BUFFER_SIZE_TAG,
+        RECORDER_EVENT_WINDOW_TAG,
+        RECORDER_LOG_PUBLISH_TIME_TAG,
+        RECORDER_ONLY_WITH_TYPE_TAG,
+        RECORDER_COMPRESSION_SETTINGS_TAG,
+        RECORDER_RECORD_TYPES_TAG,
+        RECORDER_ROS2_TYPES_TAG};
+
+    YamlValidator::validate_tags(yml, tags);
+
     if (YamlReader::is_tag_present(yml, RECORDER_OUTPUT_TAG))
     {
         auto output_yml = YamlReader::get_value_in_tag(yml, RECORDER_OUTPUT_TAG);
@@ -337,10 +357,60 @@ void RecorderConfiguration::load_recorder_configuration_(
     }
 }
 
+void RecorderConfiguration::load_output_configuration_(
+    const Yaml& yml,
+    const YamlReaderVersion& version)
+{
+    const std::set<TagType> tags{
+        RECORDER_OUTPUT_PATH_FILE_TAG,
+        RECORDER_OUTPUT_FILE_NAME_TAG,
+        RECORDER_OUTPUT_TIMESTAMP_FORMAT_TAG,
+        RECORDER_OUTPUT_LOCAL_TIMESTAMP_TAG};
+
+    YamlValidator::validate_tags(yml, tags);
+
+    /////
+    // Get optional file path
+    if (YamlReader::is_tag_present(yml, RECORDER_OUTPUT_PATH_FILE_TAG))
+    {
+        output_filepath = YamlReader::get<std::string>(yml, RECORDER_OUTPUT_PATH_FILE_TAG, version);
+    }
+
+    /////
+    // Get optional file name
+    if (YamlReader::is_tag_present(yml, RECORDER_OUTPUT_FILE_NAME_TAG))
+    {
+        output_filename = YamlReader::get<std::string>(yml, RECORDER_OUTPUT_FILE_NAME_TAG, version);
+    }
+
+    /////
+    // Get optional timestamp format
+    if (YamlReader::is_tag_present(yml, RECORDER_OUTPUT_TIMESTAMP_FORMAT_TAG))
+    {
+        output_timestamp_format = YamlReader::get<std::string>(yml, RECORDER_OUTPUT_TIMESTAMP_FORMAT_TAG, version);
+    }
+
+    /////
+    // Get optional timestamp format
+    if (YamlReader::is_tag_present(yml, RECORDER_OUTPUT_LOCAL_TIMESTAMP_TAG))
+    {
+        output_local_timestamp = YamlReader::get<bool>(yml, RECORDER_OUTPUT_LOCAL_TIMESTAMP_TAG, version);
+    }
+}
+
 void RecorderConfiguration::load_controller_configuration_(
         const Yaml& yml,
         const YamlReaderVersion& version)
 {
+    const std::set<TagType> tags{
+        RECORDER_REMOTE_CONTROLLER_ENABLE_TAG,
+        DOMAIN_ID_TAG,
+        RECORDER_REMOTE_CONTROLLER_INITIAL_STATE_TAG,
+        RECORDER_REMOTE_CONTROLLER_COMMAND_TOPIC_NAME_TAG,
+        RECORDER_REMOTE_CONTROLLER_STATUS_TOPIC_NAME_TAG};
+
+    YamlValidator::validate_tags(yml, tags);
+
     // Get optional enable remote controller
     if (YamlReader::is_tag_present(yml, RECORDER_REMOTE_CONTROLLER_ENABLE_TAG))
     {
@@ -383,6 +453,14 @@ void RecorderConfiguration::load_specs_configuration_(
         const Yaml& yml,
         const YamlReaderVersion& version)
 {
+    const std::set<TagType> tags{
+        NUMBER_THREADS_TAG,
+        SPECS_QOS_TAG,
+        RECORDER_SPECS_MAX_PENDING_SAMPLES_TAG,
+        RECORDER_SPECS_CLEANUP_PERIOD_TAG};
+
+    YamlValidator::validate_tags(yml, tags);
+
     // Get number of threads
     if (YamlReader::is_tag_present(yml, NUMBER_THREADS_TAG))
     {
@@ -393,14 +471,15 @@ void RecorderConfiguration::load_specs_configuration_(
     // Get optional Topic QoS
     if (YamlReader::is_tag_present(yml, SPECS_QOS_TAG))
     {
-        YamlReader::fill<TopicQoS>(topic_qos, YamlReader::get_value_in_tag(yml, SPECS_QOS_TAG), version);
+        topic_qos = YamlReader::get<TopicQoS>(yml, SPECS_QOS_TAG, version);
         TopicQoS::default_topic_qos.set_value(topic_qos);
     }
 
     // Get max pending samples
     if (YamlReader::is_tag_present(yml, RECORDER_SPECS_MAX_PENDING_SAMPLES_TAG))
     {
         max_pending_samples = YamlReader::get<int>(yml, RECORDER_SPECS_MAX_PENDING_SAMPLES_TAG, version);
+
         if (max_pending_samples < -1)
         {
             throw eprosima::utils::ConfigurationException(
@@ -434,6 +513,18 @@ void RecorderConfiguration::load_dds_configuration_(
         const Yaml& yml,
         const YamlReaderVersion& version)
 {
+    const std::set<TagType> tags{
+        DOMAIN_ID_TAG,
+        WHITELIST_INTERFACES_TAG,
+        TRANSPORT_DESCRIPTORS_TRANSPORT_TAG,
+        IGNORE_PARTICIPANT_FLAGS_TAG,
+        ALLOWLIST_TAG,
+        BLOCKLIST_TAG,
+        TOPICS_TAG,
+        BUILTIN_TAG};
+
+    YamlValidator::validate_tags(yml, tags);
+
     // Get optional DDS domain
     if (YamlReader::is_tag_present(yml, DOMAIN_ID_TAG))
     {