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Migrate to '--ros-args ... [--]'-based ROS args extraction #477

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merged 9 commits into from
Aug 7, 2019
Merged

Migrate to '--ros-args ... [--]'-based ROS args extraction #477

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d8e862f
Migrate to '--ros-args ... [--]'-based ROS args extraction
hidmic Jul 31, 2019
ab0be89
Extend rcl arguments API to retrieve unparsed ROS args.
hidmic Aug 1, 2019
655dad4
Adapt rcl arguments tests.
hidmic Aug 1, 2019
aa717ae
Complete unparsed ROS args functionality.
hidmic Aug 1, 2019
98d916f
Address peer review comments.
hidmic Aug 2, 2019
8738f9b
Extend rcl arguments test coverage.
hidmic Aug 5, 2019
e2848fa
Adapt more rcl tests to use --ros-args.
hidmic Aug 5, 2019
a492d23
Address peer review comments.
hidmic Aug 5, 2019
9399614
Ignore duplicate --ros-args flags.
hidmic Aug 6, 2019
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83 changes: 77 additions & 6 deletions rcl/test/rcl/test_arguments.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}


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TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args) {
int argc = 1;
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
Expand All @@ -194,6 +195,39 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args_outpu
rcl_reset_error();
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_ros_args) {
const char * argv[] = {"process_name"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_UNPARSED(parsed_args, 0);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args) {
const char * argv[] = {"process_name", "--ros-args"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_UNPARSED(parsed_args, 0);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args_w_trailing_dashes) {
const char * argv[] = {"process_name", "--ros-args", "--"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_UNPARSED(parsed_args, 0);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:=/fiz/buz"};
int argc = sizeof(argv) / sizeof(const char *);
Expand All @@ -206,9 +240,22 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap) {
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_trailing_dashes) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:=/fiz/buz", "--"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;
ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_UNPARSED(parsed_args, 0);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}


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TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_mix_valid_invalid_rules) {
const char * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "}bar:=fiz", "--", "run"
"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
Expand All @@ -221,7 +268,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_mix_valid_inval
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "__ns:=/foo"};
const char * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "__ns:=/foo", "--", "arg"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;
Expand All @@ -233,15 +282,38 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

EXPECT_UNPARSED(parsed_args, 0);
EXPECT_UNPARSED(parsed_args, 0, 6);
EXPECT_UNPARSED_ROS(parsed_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));

EXPECT_UNPARSED(copied_args, 0);
EXPECT_UNPARSED(copied_args, 0, 6);
EXPECT_UNPARSED_ROS(copied_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_ros_args) {
const char * argv[] = {"process_name", "--ros-args", "--", "arg", "--ros-args"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;

ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_arguments_t copied_args = rcl_get_zero_initialized_arguments();
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

EXPECT_UNPARSED(parsed_args, 0, 3);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));

EXPECT_UNPARSED(copied_args, 0, 3);
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&copied_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}


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// Similar to the default allocator, but returns NULL when size is zero.
// This is useful for emulating systems where `malloc(0)` return NULL.
// TODO(jacobperron): Consider using this allocate function in other tests
Expand Down Expand Up @@ -309,7 +381,6 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}


TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_null) {
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_arguments_fini(NULL));
rcl_reset_error();
Expand All @@ -335,7 +406,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_twice) {
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args) {
const char * argv[] = {
"process_name", "-d", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz", "--",
"--foo=bar", "--baz"
"--foo=bar", "--baz", "--ros-args", "bar:=baz"
};
int argc = sizeof(argv) / sizeof(const char *);

Expand Down