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Parse CLI parameters and YAML files #508

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Sep 25, 2019
Merged

Parse CLI parameters and YAML files #508

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8e56c51
Enable incremental parameter yaml file parsing.
hidmic Sep 20, 2019
74b03b8
Parse CLI parameter files and overrides in rcl.
hidmic Sep 20, 2019
c1f4c3c
Address peer review comments.
hidmic Sep 24, 2019
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8 changes: 6 additions & 2 deletions rcl/include/rcl/arguments.h
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Original file line number Diff line number Diff line change
Expand Up @@ -283,8 +283,11 @@ rcl_arguments_get_param_files(
rcl_allocator_t allocator,
char *** parameter_files);

/// Return all parameter overrides specified on the command line.
/// Return all parameter overrides parsed from the command line.
/**
* Parameter overrides are parsed directly from command line arguments and
* parameter files provided in the command line.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
Expand All @@ -294,8 +297,9 @@ rcl_arguments_get_param_files(
* Lock-Free | Yes
*
* \param[in] arguments An arguments structure that has been parsed.
* \param[out] parameter_overrides Zero or more parameter overrides.
* \param[out] parameter_overrides Parameter overrides as parsed from command line arguments.
* This structure must be finalized by the caller.
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Looks like this is still a valid sentence to leave in the documentation.

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Yes, good catch! Re-added it in c1f4c3c

* The output is NULL if no parameter overrides were parsed.
* \return `RCL_RET_OK` if everything goes correctly, or
* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
Expand Down
1 change: 1 addition & 0 deletions rcl/package.xml
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Expand Up @@ -25,6 +25,7 @@
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>rcpputils</test_depend>
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
Expand Down
39 changes: 32 additions & 7 deletions rcl/src/rcl/arguments.c
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Expand Up @@ -124,13 +124,17 @@ rcl_arguments_get_param_overrides(
RCL_CHECK_ARGUMENT_FOR_NULL(arguments, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(arguments->impl, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(parameter_overrides, RCL_RET_INVALID_ARGUMENT);

if (NULL != *parameter_overrides) {
RCL_SET_ERROR_MSG("Output parameter override pointer is not null. May leak memory.");
return RCL_RET_INVALID_ARGUMENT;
}
*parameter_overrides = rcl_yaml_node_struct_copy(arguments->impl->parameter_overrides);
if (NULL == *parameter_overrides) {
return RCL_RET_BAD_ALLOC;
*parameter_overrides = NULL;
if (NULL != arguments->impl->parameter_overrides) {
*parameter_overrides = rcl_yaml_node_struct_copy(arguments->impl->parameter_overrides);
if (NULL == *parameter_overrides) {
return RCL_RET_BAD_ALLOC;
}
}
return RCL_RET_OK;
}
Expand Down Expand Up @@ -218,6 +222,7 @@ rcl_ret_t
_rcl_parse_param_file(
const char * arg,
rcl_allocator_t allocator,
rcl_params_t * params,
char ** param_file);

/// Parse an argument that may or may not be a parameter file rule.
Expand All @@ -237,6 +242,7 @@ rcl_ret_t
_rcl_parse_param_file_rule(
const char * arg,
rcl_allocator_t allocator,
rcl_params_t * params,
char ** param_file);

#define RCL_ENABLE_FLAG_PREFIX "--enable-"
Expand Down Expand Up @@ -443,11 +449,11 @@ rcl_parse_arguments(
// Attempt to parse argument as parameter file rule
if (strcmp(RCL_PARAM_FILE_FLAG, argv[i]) == 0) {
if (i + 1 < argc) {
// Attempt to parse next argument as remap rule
// Attempt to parse next argument as parameter file rule
args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
if (
RCL_RET_OK == _rcl_parse_param_file(
argv[i + 1], allocator,
argv[i + 1], allocator, args_impl->parameter_overrides,
&args_impl->parameter_files[args_impl->num_param_files_args]))
{
++(args_impl->num_param_files_args);
Expand Down Expand Up @@ -606,7 +612,8 @@ rcl_parse_arguments(
args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
if (
RCL_RET_OK == _rcl_parse_param_file_rule(
argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args])))
argv[i], allocator, args_impl->parameter_overrides,
&args_impl->parameter_files[args_impl->num_param_files_args]))
{
++(args_impl->num_param_files_args);
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
Expand Down Expand Up @@ -743,6 +750,12 @@ rcl_parse_arguments(
}
}

// Drop parameter overrides if none was found.
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if (0U == args_impl->parameter_overrides->num_nodes) {
rcl_yaml_node_struct_fini(args_impl->parameter_overrides);
args_impl->parameter_overrides = NULL;
}

// Shrink unparsed_ros_args
if (0 == args_impl->num_unparsed_ros_args) {
// No unparsed ros args
Expand Down Expand Up @@ -1811,26 +1824,34 @@ rcl_ret_t
_rcl_parse_param_file(
const char * arg,
rcl_allocator_t allocator,
rcl_params_t * params,
char ** param_file)
{
RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(params, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(param_file, RCL_RET_INVALID_ARGUMENT);

*param_file = rcutils_strdup(arg, allocator);
if (NULL == *param_file) {
RCL_SET_ERROR_MSG("Failed to allocate memory for parameters file path");
return RCL_RET_BAD_ALLOC;
}
if (!rcl_parse_yaml_file(*param_file, params)) {
// Error message already set.
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}

rcl_ret_t
_rcl_parse_param_file_rule(
const char * arg,
rcl_allocator_t allocator,
rcl_params_t * params,
char ** param_file)
{
RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(params, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(param_file, RCL_RET_INVALID_ARGUMENT);

const size_t param_prefix_len = strlen(RCL_PARAM_FILE_ARG_RULE);
if (strncmp(RCL_PARAM_FILE_ARG_RULE, arg, param_prefix_len) == 0) {
Expand All @@ -1841,6 +1862,10 @@ _rcl_parse_param_file_rule(
return RCL_RET_BAD_ALLOC;
}
snprintf(*param_file, outlen + 1, "%s", arg + param_prefix_len);
if (!rcl_parse_yaml_file(*param_file, params)) {
// Error message already set.
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}
RCL_SET_ERROR_MSG("Argument does not start with '" RCL_PARAM_FILE_ARG_RULE "'");
Expand Down
1 change: 1 addition & 0 deletions rcl/src/rcl/arguments_impl.h
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Expand Up @@ -39,6 +39,7 @@ typedef struct rcl_arguments_impl_t

/// Parameter override rules parsed from arguments.
rcl_params_t * parameter_overrides;

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/// Array of yaml parameter file paths
char ** parameter_files;
/// Length of parameter_files.
Expand Down
3 changes: 2 additions & 1 deletion rcl/test/CMakeLists.txt
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Expand Up @@ -3,6 +3,7 @@ find_package(launch_testing_ament_cmake REQUIRED)

find_package(test_msgs REQUIRED)

find_package(rcpputils REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)

find_package(osrf_testing_tools_cpp REQUIRED)
Expand Down Expand Up @@ -148,7 +149,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "rcpputils"
)

rcl_add_custom_gtest(test_remap${target_suffix}
Expand Down
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