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Add tests for the router YAML validator and JSON schema
Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
1 parent 7dc4357 commit 3c16100

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‎ddsrouter_yaml/test/unittest/CMakeLists.txt‎

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# TODO uncomment when new API applied
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add_subdirectory(configuration)
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add_subdirectory(participants)
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add_subdirectory(ddsrouter_yaml_validator)

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/CMakeLists.txt‎

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# Copyright 2026 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#################################
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# DdsRouter Yaml Validator Test #
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#################################
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set(TEST_NAME YamlValidatorDdsRouterTest)
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set(TEST_SOURCES
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YamlValidatorDdsRouterTest.cpp
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)
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set(TEST_LIST
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validation_passed
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validation_failed
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)
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set(TEST_EXTRA_LIBRARIES
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yaml-cpp
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fastcdr
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fastdds
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cpp_utils
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ddspipe_core
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ddspipe_participants
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ddspipe_yaml
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)
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configure_file(
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"${PROJECT_SOURCE_DIR}/../resources/configurations/ddsrouter_config_schema.json"
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"${CMAKE_CURRENT_BINARY_DIR}/ddsrouter_config_schema.json"
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COPYONLY
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)
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file(REMOVE_RECURSE "${CMAKE_CURRENT_BINARY_DIR}/valid_config_files_router/")
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file(REMOVE_RECURSE "${CMAKE_CURRENT_BINARY_DIR}/invalid_config_files_router/")
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file(GLOB_RECURSE TEST_NEEDED_SOURCES
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RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
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"invalid_config_files_router/*.yaml"
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"valid_config_files_router/*.yaml"
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)
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file(GLOB GETTING_STARTED_YAMLS
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"${PROJECT_SOURCE_DIR}/../docs/resources/getting_started/*.yaml"
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)
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file(COPY ${GETTING_STARTED_YAMLS}
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DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/valid_config_files_router/"
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)
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file(GLOB EXAMPLES_YAMLS
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"${PROJECT_SOURCE_DIR}/../resources/configurations/examples/*.yaml"
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)
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file(COPY ${EXAMPLES_YAMLS}
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DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/valid_config_files_router/"
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)
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add_unittest_executable(
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"${TEST_NAME}"
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"${TEST_SOURCES}"
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"${TEST_LIST}"
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"${TEST_EXTRA_LIBRARIES}"
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"${TEST_NEEDED_SOURCES}"
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)
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‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/YamlValidatorDdsRouterTest.cpp‎

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// Copyright 2026 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <filesystem>
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#include <fstream>
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#include <iostream>
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#include <cpp_utils/testing/gtest_aux.hpp>
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#include <gtest/gtest.h>
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#include <ddspipe_yaml/YamlManager.hpp>
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#include <ddspipe_yaml/YamlValidator.hpp>
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using namespace eprosima;
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using namespace eprosima::ddspipe::yaml;
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namespace test {
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// Paths and files for the tests
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std::string schema_path = "./ddsrouter_config_schema.json";
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// Vectors with the valid and invalid YAML files
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std::vector<std::string> valid_files = []()
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{
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std::vector<std::string> files;
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for (const auto& entry : std::filesystem::directory_iterator("./valid_config_files_router/"))
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{
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if (entry.path().extension() == ".yaml")
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{
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files.push_back(entry.path().generic_string());
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}
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}
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return files;
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}();
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std::vector<std::string> invalid_files = []()
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{
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std::vector<std::string> files;
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for (const auto& entry : std::filesystem::directory_iterator("./invalid_config_files_router/"))
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{
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if (entry.path().extension() == ".yaml")
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{
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files.push_back(entry.path().generic_string());
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}
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}
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return files;
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}();
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} // namespace test
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/**
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* Test that a set of valid YAML configurations pass the validation
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*/
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TEST(YamlValidatorDdsRouterTest, validation_passed)
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{
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YamlValidator validator = YamlValidator(YamlValidator::from_file(test::schema_path));
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// valid files
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{
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for (std::string st : test::valid_files)
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{
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Yaml yml = YamlManager::load_file(st);
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ASSERT_TRUE(validator.validate_YAML(yml)) << "Failed for file: " << st;
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}
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}
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}
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/**
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* Test that a set of invalid YAML configurations don't pass the validation
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*/
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TEST(YamlValidatorDdsRouterTest, validation_failed)
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{
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YamlValidator validator = YamlValidator(YamlValidator::from_file(test::schema_path));
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// invalid files
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{
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for (std::string st : test::invalid_files)
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{
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Yaml yml = YamlManager::load_file(st);
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// Validate is called with false to prevent filling the output with the specific errors
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ASSERT_FALSE(validator.validate_YAML(yml, false)) << "Failed for file: " << st;
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}
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}
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}
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int main(
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int argc,
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char** argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/address_no_ip_nor_domain.yaml‎

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version: v5.0
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allowlist:
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- name: HelloWorldTopic
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type: HelloWorld
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- name: rt/chatter
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type: std_msgs::msg::dds_::String_
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participants:
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- name: EchoParticipant
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kind: echo
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- name: discovery_participant
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kind: discovery-server
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discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true
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listening-addresses:
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- port: 11667
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transport: udp
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ip-version: v4
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connection-addresses:
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- discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true
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addresses:
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- ip: 127.0.0.1
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domain: localhost
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port: 11667
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transport: udp
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ip-version: v4

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/address_no_port.yaml‎

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version: v5.0
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allowlist:
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- name: HelloWorldTopic
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type: HelloWorld
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- name: rt/chatter
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type: std_msgs::msg::dds_::String_
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participants:
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- name: EchoParticipant
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kind: echo
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- name: discovery_participant
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kind: discovery-server
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discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true
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listening-addresses:
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- ip: 127.0.0.1
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domain: localhost
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transport: udp
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ip-version: v4
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connection-addresses:
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- discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true
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addresses:
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- ip: 127.0.0.1
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domain: localhost
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port: 11667
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transport: udp
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ip-version: v4

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/builtin_topic_no_name.yaml‎

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version: v5.0
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builtin-topics:
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- type: HelloWorld
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participants:
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- name: SimpleParticipant
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kind: local
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domain: 0
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- name: EchoParticipant
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kind: echo

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/builtin_topic_no_type.yaml‎

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version: v5.0
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builtin-topics:
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- name: HelloWorldTopic
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participants:
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- name: SimpleParticipant
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kind: local
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domain: 0
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- name: EchoParticipant
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kind: echo

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/ds_participant_no_discovery_server_guid.yaml‎

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version: v5.0
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allowlist:
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- name: HelloWorldTopic
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type: HelloWorld
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- name: rt/chatter
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type: std_msgs::msg::dds_::String_
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participants:
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- name: EchoParticipant
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kind: echo
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- name: discovery_participant
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kind: discovery-server
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listening-addresses:
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- ip: 127.0.0.1
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domain: localhost
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port: 11667
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transport: udp
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ip-version: v4
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connection-addresses:
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- discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true
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addresses:
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- ip: 127.0.0.1
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domain: localhost
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port: 11667
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transport: udp
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ip-version: v4

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/ds_participant_no_listening_nor_connection_addresses.yaml‎

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version: v5.0
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allowlist:
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- name: HelloWorldTopic
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type: HelloWorld
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- name: rt/chatter
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type: std_msgs::msg::dds_::String_
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participants:
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- name: EchoParticipant
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kind: echo
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- name: discovery_participant
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kind: discovery-server
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discovery-server-guid:
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guid: 01.0f.00.00.00.00.00.00.00.00.ca.fe
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id: 0
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ros-discovery-server: true

‎ddsrouter_yaml/test/unittest/ddsrouter_yaml_validator/invalid_config_files_router/filter_topic_no_name.yaml‎

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version: v5.0
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allowlist:
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- type: HelloWorld
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participants:
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- name: SimpleParticipant
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kind: local
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domain: 0
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- name: EchoParticipant
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kind: echo

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