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Ignore ros-args in parameter bridge #65

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merged 3 commits into from
Mar 31, 2020
Merged

Ignore ros-args in parameter bridge #65

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73a977a
Ignore ros-args in parameter bridge
luca-della-vedova Mar 27, 2020
2648956
Refactor ros-args removing logic
luca-della-vedova Mar 30, 2020
c0c436c
Fixed lint and uncrustify issues
luca-della-vedova Mar 31, 2020
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25 changes: 22 additions & 3 deletions ros_ign_bridge/src/parameter_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <list>
#include <memory>
#include <string>
#include <vector>

// Direction of bridge.
enum Direction
Expand Down Expand Up @@ -61,6 +62,24 @@ void usage()
".StringMsg" << std::endl;
}

//////////////////////////////////////////////////
std::vector<std::string> filter_args(int argc, char * argv[])
{
const std::string rosArgsBeginDelim = "--ros-args";
const std::string rosArgsEndDelim = "--";
// Skip first argument (executable path)
std::vector<std::string> args(argv + 1, argv + argc);
auto rosArgsPos = std::find(args.begin(), args.end(), rosArgsBeginDelim);
auto rosArgsEndPos = std::find(rosArgsPos, args.end(), rosArgsEndDelim);
// If -- was found, delete it as well
if (rosArgsEndPos != args.end())
++rosArgsEndPos;
// Delete args between --ros-args and -- (or --ros-args to end if not found)
if (rosArgsPos != args.end())
args.erase(rosArgsPos, rosArgsEndPos);
return args;
}

//////////////////////////////////////////////////
int main(int argc, char * argv[])
{
Expand All @@ -81,11 +100,11 @@ int main(int argc, char * argv[])
std::list<ros_ign_bridge::BridgeIgnToRosHandles> ign_to_ros_handles;
std::list<ros_ign_bridge::BridgeRosToIgnHandles> ros_to_ign_handles;

// Parse all arguments.
// Filter arguments (i.e. remove ros args) then parse all the remaining ones
const std::string delim = "@";
const size_t queue_size = 10;
for (auto i = 1; i < argc; ++i) {
std::string arg = std::string(argv[i]);
auto filteredArgs = filter_args(argc, argv);
for (auto& arg : filteredArgs) {
auto delimPos = arg.find(delim);
if (delimPos == std::string::npos || delimPos == 0) {
usage();
Expand Down