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Support --remap/-r flags.
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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@hidmic
hidmic committed Aug 20, 2019
1 parent ac845e9 commit 6bb553c
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Showing 5 changed files with 127 additions and 74 deletions.
2 changes: 2 additions & 0 deletions rcl/include/rcl/arguments.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@ typedef struct rcl_arguments_t
#define RCL_ROS_ARGS_EXPLICIT_END_TOKEN "--"
#define RCL_PARAM_FLAG "--param"
#define RCL_SHORT_PARAM_FLAG "-p"
#define RCL_REMAP_FLAG "--remap"
#define RCL_SHORT_REMAP_FLAG "-r"

#define RCL_LOG_LEVEL_ARG_RULE "__log_level:="
#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE "__log_config_file:="
Expand Down
24 changes: 24 additions & 0 deletions rcl/src/rcl/arguments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -320,6 +320,30 @@ rcl_parse_arguments(
"Couldn't parse arg %d (%s) as parameter override flag. No rule found.\n",
i, argv[i]);
}
rcl_reset_error();
}

// Attempt to parse argument as remap rule flag
if (strcmp(RCL_REMAP_FLAG, argv[i]) == 0 || strcmp(RCL_SHORT_REMAP_FLAG, argv[i]) == 0) {
if (i + 1 < argc) {
// Attempt to parse next argument as remap rule
rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
*rule = rcl_get_zero_initialized_remap();
if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i + 1], allocator, rule)) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "remap rule : %s\n", argv[i + 1]);
++(args_impl->num_remap_rules);
i += 1; // Skip flag here, for loop will skip rule.
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule. Error: %s", i + 1, argv[i + 1],
rcl_get_error_string().str);
rcl_reset_error();
} else {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule flag. No rule found.\n",
i, argv[i]);
}
}

// Attempt to parse argument as parameter file rule
Expand Down
3 changes: 2 additions & 1 deletion rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,8 @@ function(test_target_function)
SRCS rcl/test_arguments.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
)

rcl_add_custom_gtest(test_remap${target_suffix}
Expand Down
168 changes: 95 additions & 73 deletions rcl/test/rcl/test_arguments.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,11 +103,11 @@ class CLASSNAME (TestArgumentsFixture, RMW_IMPLEMENTATION) : public ::testing::T
} while (0)

bool
is_valid_ros_arg(const char * arg)
are_valid_ros_args(int argc, std::vector<const char *> argv)
{
const char * argv[] = {"--ros-args", arg};
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(2, argv, rcl_get_default_allocator(), &parsed_args);
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) &&
Expand All @@ -117,59 +117,73 @@ is_valid_ros_arg(const char * arg)
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
EXPECT_TRUE(is_valid_ros_arg("__node:=node_name"));
EXPECT_TRUE(is_valid_ros_arg("old_name:__node:=node_name"));
EXPECT_TRUE(is_valid_ros_arg("old_name:__node:=nodename123"));
EXPECT_TRUE(is_valid_ros_arg("__node:=nodename123"));
EXPECT_TRUE(is_valid_ros_arg("__ns:=/foo/bar"));
EXPECT_TRUE(is_valid_ros_arg("__ns:=/"));
EXPECT_TRUE(is_valid_ros_arg("_:=kq"));
EXPECT_TRUE(is_valid_ros_arg("nodename:__ns:=/foobar"));
EXPECT_TRUE(is_valid_ros_arg("foo:=bar"));
EXPECT_TRUE(is_valid_ros_arg("~/foo:=~/bar"));
EXPECT_TRUE(is_valid_ros_arg("/foo/bar:=bar"));
EXPECT_TRUE(is_valid_ros_arg("foo:=/bar"));
EXPECT_TRUE(is_valid_ros_arg("/foo123:=/bar123"));
EXPECT_TRUE(is_valid_ros_arg("node:/foo123:=/bar123"));
EXPECT_TRUE(is_valid_ros_arg("rostopic:=/foo/bar"));
EXPECT_TRUE(is_valid_ros_arg("rosservice:=baz"));
EXPECT_TRUE(is_valid_ros_arg("rostopic://rostopic:=rosservice"));
EXPECT_TRUE(is_valid_ros_arg("rostopic:///rosservice:=rostopic"));
EXPECT_TRUE(is_valid_ros_arg("rostopic:///foo/bar:=baz"));
EXPECT_TRUE(is_valid_ros_arg("__params:=file_name.yaml"));

EXPECT_FALSE(is_valid_ros_arg(":="));
EXPECT_FALSE(is_valid_ros_arg("foo:="));
EXPECT_FALSE(is_valid_ros_arg(":=bar"));
EXPECT_FALSE(is_valid_ros_arg("__ns:="));
EXPECT_FALSE(is_valid_ros_arg("__node:="));
EXPECT_FALSE(is_valid_ros_arg("__node:=/foo/bar"));
EXPECT_FALSE(is_valid_ros_arg("__ns:=foo"));
EXPECT_FALSE(is_valid_ros_arg(":__node:=nodename"));
EXPECT_FALSE(is_valid_ros_arg("~:__node:=nodename"));
EXPECT_FALSE(is_valid_ros_arg("}foo:=/bar"));
EXPECT_FALSE(is_valid_ros_arg("f oo:=/bar"));
EXPECT_FALSE(is_valid_ros_arg("foo:=/b ar"));
EXPECT_FALSE(is_valid_ros_arg("f{oo:=/bar"));
EXPECT_FALSE(is_valid_ros_arg("foo:=/b}ar"));
EXPECT_FALSE(is_valid_ros_arg("rostopic://:=rosservice"));
EXPECT_FALSE(is_valid_ros_arg("rostopic::=rosservice"));
EXPECT_FALSE(is_valid_ros_arg("__param:=file_name.yaml"));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=node_name"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "old_name:__node:=node_name"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "old_name:__node:=nodename123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=nodename123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:=/foo/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:=/"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "_:=kq"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "nodename:__ns:=/foobar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "~/foo:=~/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "/foo/bar:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "node:/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:=/foo/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rosservice:=baz"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic://rostopic:=rosservice"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:///rosservice:=rostopic"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:///foo/bar:=baz"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "~/foo:=~/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "/foo/bar:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:=/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__params:=file_name.yaml"}));

EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", ":="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", ":=bar"}));

EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", ":="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", ":=bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:="}));

EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=/foo/bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:=foo"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", ":__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "~:__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "f oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=/b ar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "f{oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=/b}ar"}));

EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", "f oo:=/bar"}));

EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic://:=rosservice"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic::=rosservice"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__param:=file_name.yaml"}));

// Setting logger level
EXPECT_TRUE(is_valid_ros_arg("__log_level:=UNSET"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=DEBUG"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=INFO"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=WARN"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=ERROR"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=FATAL"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=debug"));
EXPECT_TRUE(is_valid_ros_arg("__log_level:=Info"));

EXPECT_FALSE(is_valid_ros_arg("__log:=foo"));
EXPECT_FALSE(is_valid_ros_arg("__loglevel:=foo"));
EXPECT_FALSE(is_valid_ros_arg("__log_level:="));
EXPECT_FALSE(is_valid_ros_arg("__log_level:=foo"));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=UNSET"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=DEBUG"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=INFO"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=WARN"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=ERROR"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=FATAL"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=debug"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=Info"}));

EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log:=foo"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__loglevel:=foo"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log_level:="}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log_level:=foo"}));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
Expand Down Expand Up @@ -230,8 +244,10 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args_w
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"};
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remap) {
const char * argv[] = {
"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--remap", "foo:=/baz"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;
Expand All @@ -243,7 +259,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap) {
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_two_ros_args) {
const char * argv[] = {"process_name", "--ros-args", "--ros-args", "/foo/bar:=/fiz/buz"};
const char * argv[] = {"process_name", "--ros-args", "--ros-args", "-r", "/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;
Expand All @@ -255,7 +271,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_two_r
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_trailing_dashes) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:=/fiz/buz", "--"};
const char * argv[] = {"process_name", "--ros-args", "-r", "/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;
Expand All @@ -267,34 +283,35 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_tra
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_two_trailing_dashes) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:=/fiz/buz", "--", "--"};
const char * argv[] = {"process_name", "--ros-args", "-r", "/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, 4);
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 * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"
};
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, 6);
EXPECT_UNPARSED_ROS(parsed_args, 2, 4);
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 * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "bar:=/fiz/buz", "__ns:=/foo", "--", "arg"
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "-r", "__ns:=/foo", "--",
"arg"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
Expand All @@ -307,11 +324,11 @@ 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, 6);
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, 6);
EXPECT_UNPARSED(copied_args, 0, 8);
EXPECT_UNPARSED_ROS(copied_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}
Expand Down Expand Up @@ -371,7 +388,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_args) {
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_two_namespace) {
const char * argv[] = {"process_name", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz"};
const char * argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;
Expand All @@ -394,7 +413,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_uninitialized_p
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
const char * argv[] = {"process_name", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz"};
const char * argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
ASSERT_EQ(RCL_RET_OK,
Expand Down Expand Up @@ -429,8 +450,8 @@ 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", "--ros-args", "--ros-args", "bar:=baz", "--", "--", "arg"
"process_name", "-d", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz", "--",
"--foo=bar", "--baz", "--ros-args", "--ros-args", "-p", "bar:=baz", "--", "--", "arg"
};
int argc = sizeof(argv) / sizeof(const char *);

Expand Down Expand Up @@ -490,7 +511,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_zero) {
const char * argv[] = {"process_name", "--ros-args", "__ns:=/namespace", "random:=arg"};
const char * argv[] = {"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_ret_t ret;

Expand All @@ -507,7 +528,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
const char * argv[] = {
"process_name", "--ros-args", "__ns:=/namespace", "random:=arg", "__params:=parameter_filepath"
"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg",
"__params:=parameter_filepath"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_ret_t ret;
Expand All @@ -534,7 +556,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
const char * argv[] = {
"process_name", "--ros-args", "__params:=parameter_filepath1", "__ns:=/namespace",
"process_name", "--ros-args", "__params:=parameter_filepath1", "-r", "__ns:=/namespace",
"random:=arg", "__params:=parameter_filepath2"
};
int argc = sizeof(argv) / sizeof(const char *);
Expand Down
4 changes: 4 additions & 0 deletions rcl_yaml_param_parser/src/parser.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1753,6 +1753,10 @@ bool rcl_parse_yaml_value(
RCUTILS_CHECK_ARGUMENT_FOR_NULL(param_name, false);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(yaml_value, false);

if (0U == strlen(node_name) || 0U == strlen(param_name) || 0U == strlen(yaml_value)) {
return false;
}

if (NULL == params_st) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Pass an initialized parameter structure");
return false;
Expand Down

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