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Support parameter overrides and remap rules flags on command line #483

Merged
merged 13 commits into from
Aug 26, 2019
Merged

Support parameter overrides and remap rules flags on command line #483

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bd41494
Support rcl_params_t copies.
hidmic Aug 8, 2019
32e5a4c
Parse parameter overrides from command line.
hidmic Aug 8, 2019
cbe9af7
Parameter overrides' tests passing.
hidmic Aug 9, 2019
09fa3c8
Test rcl_yaml_node_struct_copy() function
hidmic Aug 9, 2019
b600446
Export rcl_yaml_param_parser as rcl dependency.
hidmic Aug 12, 2019
4d53b06
Zero initialize parameter overrides before rcl arguments copy.
hidmic Aug 12, 2019
be90f4c
Initialize local variables early enough.
hidmic Aug 13, 2019
abf3391
Simplify rcl package.xml
hidmic Aug 14, 2019
c4a2a0f
Assert arguments sanity in rcl args parsing internal functions.
hidmic Aug 14, 2019
37e1569
Extend rcl_yaml_param_parser tests to all parameter types.
hidmic Aug 14, 2019
ac845e9
Address peer review comments.
hidmic Aug 20, 2019
6bb553c
Support --remap/-r flags.
hidmic Aug 20, 2019
e51c05b
Please cpplint
hidmic Aug 22, 2019
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3 changes: 3 additions & 0 deletions rcl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ project(rcl)
find_package(ament_cmake_ros REQUIRED)

find_package(rcl_interfaces REQUIRED)
find_package(rcl_yaml_param_parser REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED)
Expand Down Expand Up @@ -63,6 +64,7 @@ add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
# specific order: dependents before dependencies
ament_target_dependencies(${PROJECT_NAME}
"rcl_interfaces"
"rcl_yaml_param_parser"
"rmw_implementation"
"rmw"
"rcutils"
Expand Down Expand Up @@ -94,6 +96,7 @@ ament_export_libraries(${PROJECT_NAME})

ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl_interfaces)
ament_export_dependencies(rcl_yaml_param_parser)
ament_export_dependencies(rmw_implementation)
ament_export_dependencies(rmw)
ament_export_dependencies(rcutils)
Expand Down
30 changes: 30 additions & 0 deletions rcl/include/rcl/arguments.h
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Expand Up @@ -19,6 +19,7 @@
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#include "rcl_yaml_param_parser/types.h"

#ifdef __cplusplus
extern "C"
Expand All @@ -36,6 +37,10 @@ typedef struct rcl_arguments_t

#define RCL_ROS_ARGS_FLAG "--ros-args"
#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 Expand Up @@ -254,6 +259,31 @@ rcl_arguments_get_param_files(
rcl_allocator_t allocator,
char *** parameter_files);

/// Return all parameter overrides specified on the command line.
/**
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] arguments An arguments structure that has been parsed.
* \param[out] parameter_overrides Zero or more parameter overrides.
* This structure must be finalized by the caller.
* \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
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_arguments_get_param_overrides(
const rcl_arguments_t * arguments,
rcl_params_t ** parameter_overrides);

/// Return a list of arguments with ROS-specific arguments removed.
/**
* Some arguments may not have been intended as ROS arguments.
Expand Down
20 changes: 5 additions & 15 deletions rcl/package.xml
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Expand Up @@ -13,23 +13,13 @@

<build_export_depend>rmw</build_export_depend>

<build_depend>rcl_interfaces</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rosidl_generator_c</build_depend>
<build_depend>tinydir_vendor</build_depend>

<build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rcutils</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend>
<build_export_depend>tinydir_vendor</build_export_depend>

<exec_depend>rcl_interfaces</exec_depend>
<exec_depend>ament_cmake</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>

<depend>rcl_interfaces</depend>
<depend>rcl_logging_noop</depend> <!-- the default logging impl -->
<depend>rcl_yaml_param_parser</depend>
<depend>rcutils</depend>
<depend>rmw_implementation</depend>
<depend>rosidl_generator_c</depend>
<depend>tinydir_vendor</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
Expand Down
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