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test_arguments.cpp
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test_arguments.cpp
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <sstream>
#include <string>
#include <vector>
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "rcl/rcl.h"
#include "rcl/arguments.h"
#include "rcl/error_handling.h"
#include "rcl_yaml_param_parser/parser.h"
#include "./allocator_testing_utils.h"
#include "./arguments_impl.h"
#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif
class CLASSNAME (TestArgumentsFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
void SetUp()
{
test_path /= "test_arguments";
}
void TearDown()
{
}
rcpputils::fs::path test_path{TEST_RESOURCES_DIRECTORY};
};
#define EXPECT_UNPARSED(parsed_args, ...) \
do { \
int expect_unparsed[] = {__VA_ARGS__}; \
int expect_num_unparsed = sizeof(expect_unparsed) / sizeof(int); \
rcl_allocator_t alloc = rcl_get_default_allocator(); \
int actual_num_unparsed = rcl_arguments_get_count_unparsed(&parsed_args); \
int * actual_unparsed = NULL; \
if (actual_num_unparsed > 0) { \
rcl_ret_t ret = rcl_arguments_get_unparsed(&parsed_args, alloc, &actual_unparsed); \
ASSERT_EQ(RCL_RET_OK, ret); \
ASSERT_TRUE(NULL != actual_unparsed); \
} \
std::stringstream expected; \
expected << "["; \
for (int e = 0; e < expect_num_unparsed; ++e) { \
expected << expect_unparsed[e] << ", "; \
} \
expected << "]"; \
std::stringstream actual; \
actual << "["; \
for (int a = 0; a < actual_num_unparsed; ++a) { \
actual << actual_unparsed[a] << ", "; \
} \
actual << "]"; \
if (NULL != actual_unparsed) { \
alloc.deallocate(actual_unparsed, alloc.state); \
} \
EXPECT_EQ(expected.str(), actual.str()); \
} while (0)
#define EXPECT_UNPARSED_ROS(parsed_args, ...) \
do { \
int expect_unparsed_ros[] = {__VA_ARGS__}; \
int expect_num_unparsed_ros = sizeof(expect_unparsed_ros) / sizeof(int); \
rcl_allocator_t alloc = rcl_get_default_allocator(); \
int actual_num_unparsed_ros = rcl_arguments_get_count_unparsed_ros(&parsed_args); \
int * actual_unparsed_ros = NULL; \
if (actual_num_unparsed_ros > 0) { \
rcl_ret_t ret = rcl_arguments_get_unparsed_ros(&parsed_args, alloc, &actual_unparsed_ros); \
ASSERT_EQ(RCL_RET_OK, ret); \
ASSERT_TRUE(NULL != actual_unparsed_ros); \
} \
std::stringstream expected; \
expected << "["; \
for (int e = 0; e < expect_num_unparsed_ros; ++e) { \
expected << expect_unparsed_ros[e] << ", "; \
} \
expected << "]"; \
std::stringstream actual; \
actual << "["; \
for (int a = 0; a < actual_num_unparsed_ros; ++a) { \
actual << actual_unparsed_ros[a] << ", "; \
} \
actual << "]"; \
if (NULL != actual_unparsed_ros) { \
alloc.deallocate(actual_unparsed_ros, alloc.state); \
} \
EXPECT_EQ(expected.str(), actual.str()); \
} while (0)
bool
are_known_ros_args(std::vector<const char *> argv)
{
const int argc = static_cast<int>(argv.size());
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(
argc, argv.data(), rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
bool is_valid = (
0 == rcl_arguments_get_count_unparsed(&parsed_args) &&
0 == rcl_arguments_get_count_unparsed_ros(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
return is_valid;
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unknown_args) {
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__node:=node_name"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "old_name:__node:=node_name"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "old_name:__node:=nodename123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__node:=nodename123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__ns:=/foo/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__ns:=/"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "_:=kq"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "nodename:__ns:=/foobar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "foo:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "~/foo:=~/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/foo/bar:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "foo:=/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "node:/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:=/foo/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rosservice:=baz"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic://rostopic:=rosservice"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///rosservice:=rostopic"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///foo/bar:=baz"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=bar"}));
// TODO(hidmic): restore tests (and drop the following ones) when parameter names
// are standardized to use slashes in lieu of dots.
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "~/foo:=~/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo/bar:=bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo.bar:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "node:foo:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "fizz123:=buzz456"}));
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--params-file", parameters_filepath.c_str()}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--custom-ros-arg"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__node:=node_name"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "old_name:__node:=node_name"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "/foo/bar:=bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "foo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "file_name.yaml"}));
// Setting config logging file
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-config-file", "file.config"}));
// Setting logger level
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "UNSET"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "DEBUG"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "INFO"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "WARN"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "ERROR"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "FATAL"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "debug"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--log-level", "Info"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--log", "foo"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--loglevel", "foo"}));
// Disabling logging
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--enable-rosout-logs"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--disable-rosout-logs"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--enable-stdout-logs"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--disable-stdout-logs"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--enable-external-lib-logs"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--disable-external-lib-logs"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "stdout-logs"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "external-lib-logs"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "external-lib-logs"}));
}
bool
are_valid_ros_args(std::vector<const char *> argv)
{
const int argc = static_cast<int>(argv.size());
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(
argc, argv.data(), rcl_get_default_allocator(), &parsed_args);
if (RCL_RET_OK != ret) {
EXPECT_EQ(ret, RCL_RET_INVALID_ROS_ARGS) << rcl_get_error_string().str;
rcl_reset_error();
return false;
}
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
return true;
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
EXPECT_TRUE(
are_valid_ros_args(
{
"--ros-args", "-p", "foo:=bar", "-r", "__node:=node_name",
"--params-file", parameters_filepath.c_str(), "--log-level", "INFO",
"--log-config-file", "file.config"
}));
// ROS args unknown to rcl are not (necessarily) invalid
EXPECT_TRUE(are_valid_ros_args({"--ros-args", "--custom-ros-arg"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--remap"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":=bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--params-file"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "foo:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":=bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:=foo"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "~:__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b ar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f{oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b}ar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic://:=rosservice"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic::=rosservice"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--param", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "f oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--param", "f oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--params-file"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--log-config-file"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--log-level"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--log-level", "foo"}));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(0, NULL, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0, rcl_arguments_get_count_unparsed(&parsed_args));
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_null_args) {
const int argc = 1;
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, NULL, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_negative_args) {
const int argc = -1;
const char * const argv[] = {"process_name"};
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_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_parse_args) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, bad_alloc, &parsed_args);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_unparse_args) {
const char * const argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(2, rcl_arguments_get_count_unparsed(&parsed_args));
int * actual_unparsed = NULL;
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_arguments_get_unparsed(&parsed_args, bad_alloc, &actual_unparsed));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_arguments_get_unparsed_ros(&parsed_args, bad_alloc, &actual_unparsed));
rcl_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_params_get_counts) {
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed_ros(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_param_files_count(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed(&parsed_args));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed_ros(&parsed_args));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_param_files_count(&parsed_args));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args_output) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), NULL);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_ros_args) {
const char * const argv[] = {"process_name"};
const 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 * const argv[] = {"process_name", "--ros-args"};
const 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 * const argv[] = {"process_name", "--ros-args", "--"};
const 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_remap) {
const char * const argv[] = {
"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--remap", "foo:=/baz"
};
const 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));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_two_ros_args) {
const char * const argv[] =
{"process_name", "--ros-args", "--ros-args", "-r", "/foo/bar:=/fiz/buz"};
const 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));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_trailing_dashes) {
const char * const argv[] = {"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--"};
const 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));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_two_trailing_dashes) {
const char * const argv[] =
{"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--", "--"};
const 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, 5);
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_mix_valid_invalid_rules) {
const char * const argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"
};
const 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, 7);
EXPECT_UNPARSED_ROS(parsed_args, 2, 5);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
const char * const argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "-r", "__ns:=/foo", "--",
"arg"
};
const 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;
// Can't copy to non empty
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_UNPARSED(parsed_args, 0, 8);
EXPECT_UNPARSED_ROS(parsed_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
EXPECT_UNPARSED(copied_args, 0, 8);
EXPECT_UNPARSED_ROS(copied_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_bad_alloc) {
const char * const argv[] = {"process_name", "--ros-args", "/foo/bar:="};
const 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();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_allocator_t saved_alloc = parsed_args.impl->allocator;
parsed_args.impl->allocator = bad_alloc;
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
parsed_args.impl->allocator = saved_alloc;
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args)) << rcl_get_error_string().str;
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_ros_args) {
const char * const argv[] = {"process_name", "--ros-args", "--", "arg", "--ros-args"};
const 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));
}
// 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
static void *
__return_null_on_zero_allocate(size_t size, void * state)
{
RCUTILS_UNUSED(state);
if (size == 0) {
return NULL;
}
return malloc(size);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_args) {
rcl_allocator_t allocator = rcl_get_default_allocator();
allocator.allocate = __return_null_on_zero_allocate;
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(0, NULL, allocator, &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0, rcl_arguments_get_count_unparsed(&parsed_args));
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&parsed_args));
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_EQ(0, rcl_arguments_get_count_unparsed(&copied_args));
EXPECT_EQ(0, rcl_arguments_get_count_unparsed_ros(&copied_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_two_namespace) {
const char * const argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
};
const 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));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_uninitialized_parsed_args) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args;
int not_null = 1;
parsed_args.impl = reinterpret_cast<rcl_arguments_impl_t *>(¬_null);
ASSERT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
const char * const argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
ASSERT_EQ(
RCL_RET_OK,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
ASSERT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_null) {
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_arguments_fini(NULL));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_impl_null) {
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
parsed_args.impl = NULL;
EXPECT_EQ(RCL_RET_ERROR, rcl_arguments_fini(&parsed_args));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_twice) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
ASSERT_EQ(RCL_RET_OK, rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
EXPECT_EQ(RCL_RET_ERROR, rcl_arguments_fini(&parsed_args));
rcl_reset_error();
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_args) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t default_allocator = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, default_allocator, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
const char ** nonros_argv = NULL;
int nonros_argc = 0;
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
NULL, &parsed_args, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, NULL, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
rcl_allocator_t zero_initialized_allocator =
(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, zero_initialized_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
rcl_allocator_t bad_alloc = get_failing_allocator();
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_remove_ros_arguments(
argv, &parsed_args, bad_alloc, &nonros_argc, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, NULL, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, &nonros_argc, NULL));
rcl_reset_error();
rcl_arguments_t zero_initialized_parsed_args = rcl_get_zero_initialized_arguments();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &zero_initialized_parsed_args, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
const char * stack_allocated_nonros_argv[] = {"--foo", "--bar"};
const char ** initialized_nonros_argv = stack_allocated_nonros_argv;
int initialized_nonros_argc = sizeof(stack_allocated_nonros_argv) / sizeof(const char *);
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, &initialized_nonros_argc, &initialized_nonros_argv));
rcl_reset_error();
rcl_arguments_t no_parsed_args = rcl_get_zero_initialized_arguments();
ret = rcl_parse_arguments(0, NULL, default_allocator, &no_parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&no_parsed_args));
});
ret = rcl_remove_ros_arguments(
NULL, &no_parsed_args, default_allocator, &nonros_argc, &nonros_argv);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(NULL == nonros_argv);
EXPECT_EQ(0, nonros_argc);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args) {
const char * const argv[] = {
"process_name", "-d", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz", "--",
"--foo=bar", "--baz", "--ros-args", "--ros-args", "-p", "bar:=baz", "--", "--", "arg",
};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
ret = rcl_remove_ros_arguments(
argv,
&parsed_args,
alloc,
&nonros_argc,
&nonros_argv);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(nonros_argc, 6);
EXPECT_STREQ(nonros_argv[0], "process_name");
EXPECT_STREQ(nonros_argv[1], "-d");
EXPECT_STREQ(nonros_argv[2], "--foo=bar");
EXPECT_STREQ(nonros_argv[3], "--baz");
EXPECT_STREQ(nonros_argv[4], "--");
EXPECT_STREQ(nonros_argv[5], "arg");
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args_if_ros_only) {
const char * const argv[] = {"--ros-args", "--disable-rosout-logs"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
ret = rcl_remove_ros_arguments(
argv,
&parsed_args,
alloc,
&nonros_argc,
&nonros_argv);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0, nonros_argc);
EXPECT_TRUE(NULL == nonros_argv);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args_if_no_args) {
const char ** argv = NULL;
const int argc = 0;
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
ret = rcl_remove_ros_arguments(
argv,
&parsed_args,
alloc,
&nonros_argc,
&nonros_argv);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0, nonros_argc);
EXPECT_TRUE(NULL == nonros_argv);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_zero) {
const char * const argv[] =
{"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
EXPECT_EQ(0, parameter_filecount);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
const char * const argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg",
"--params-file", parameters_filepath.c_str()
};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
EXPECT_EQ(1, parameter_filecount);
char ** parameter_files = NULL;
ret = rcl_arguments_get_param_files(&parsed_args, alloc, ¶meter_files);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_STREQ(parameters_filepath.c_str(), parameter_files[0]);
for (int i = 0; i < parameter_filecount; ++i) {
alloc.deallocate(parameter_files[i], alloc.state);
}
alloc.deallocate(parameter_files, alloc.state);
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, ¶ms);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(1U, params->num_nodes);
rcl_variant_t * param_value =
rcl_yaml_node_struct_get("some_node", "param_group.string_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("foo", param_value->string_value);
param_value = rcl_yaml_node_struct_get("some_node", "int_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(1, *(param_value->integer_value));
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
const std::string parameters_filepath1 = (test_path / "test_parameters.1.yaml").string();
const std::string parameters_filepath2 = (test_path / "test_parameters.2.yaml").string();
const char * const argv[] = {
"process_name", "--ros-args", "--params-file", parameters_filepath1.c_str(),
"-r", "__ns:=/namespace", "random:=arg", "--params-file", parameters_filepath2.c_str()
};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_ret_t ret;
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
EXPECT_EQ(2, parameter_filecount);
char ** parameter_files = NULL;
ret = rcl_arguments_get_param_files(&parsed_args, alloc, ¶meter_files);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_STREQ(parameters_filepath1.c_str(), parameter_files[0]);
EXPECT_STREQ(parameters_filepath2.c_str(), parameter_files[1]);
for (int i = 0; i < parameter_filecount; ++i) {
alloc.deallocate(parameter_files[i], alloc.state);
}
alloc.deallocate(parameter_files, alloc.state);
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, ¶ms);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(2U, params->num_nodes);
rcl_variant_t * param_value =
rcl_yaml_node_struct_get("some_node", "int_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->integer_value);
EXPECT_EQ(3, *(param_value->integer_value));
param_value = rcl_yaml_node_struct_get("some_node", "param_group.string_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("foo", param_value->string_value);
param_value = rcl_yaml_node_struct_get("another_node", "double_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->double_value);
EXPECT_DOUBLE_EQ(1.0, *(param_value->double_value));
param_value = rcl_yaml_node_struct_get("another_node", "param_group.bool_array_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->bool_array_value);
ASSERT_TRUE(NULL != param_value->bool_array_value->values);
ASSERT_EQ(3U, param_value->bool_array_value->size);
EXPECT_TRUE(param_value->bool_array_value->values[0]);
EXPECT_FALSE(param_value->bool_array_value->values[1]);
EXPECT_FALSE(param_value->bool_array_value->values[2]);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_param_overrides) {
const char * const argv[] = {"process_name"};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
ret = rcl_arguments_get_param_overrides(&parsed_args, NULL);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(NULL, ¶ms);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
rcl_params_t preallocated_params;
params = &preallocated_params;
ret = rcl_arguments_get_param_overrides(&parsed_args, ¶ms);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, ¶ms);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(NULL == params);
}
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides) {
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
const char * const argv[] = {
"process_name", "--ros-args",
"--params-file", parameters_filepath.c_str(),
"--param", "string_param:=bar",
"-p", "some.bool_param:=false",
"-p", "some_node:int_param:=4"
};
const int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});