Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Enforce -r/--remap flags. #491

Merged
merged 2 commits into from
Sep 3, 2019
Merged

Enforce -r/--remap flags. #491

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
330df07
Enforce -r/--remap flags.
hidmic Aug 28, 2019
3409a46
Cast size_t to int explicitly.
hidmic Sep 2, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 21 additions & 9 deletions rcl/include/rcl/arguments.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,26 +57,38 @@ rcl_get_zero_initialized_arguments(void);

/// Parse command line arguments into a structure usable by code.
/**
* If an argument does not appear to be a valid ROS argument then it is skipped
* and parsing continues with the next argument in `argv`.
*
* \sa rcl_get_zero_initialized_arguments()
* \sa rcl_arguments_get_count_unparsed()
* \sa rcl_arguments_get_unparsed()
*
* ROS arguments are expected to be scoped by a leading `--ros-args` flag and a trailing double
* dash token `--` which may be elided if no non-ROS arguments follow after the last `--ros-args`.
*
* Remap rule parsing is supported via `-r/--remap` flags e.g. `--remap from:=to` or `-r from:=to`.
* Successfully parsed remap rules are stored in the order they were given in `argv`.
* If given arguments `{"__ns:=/foo", "__ns:=/bar"}` then the namespace used by nodes in this
* process will be `/foo` and not `/bar`.
*
* \sa rcl_remap_topic_name()
* \sa rcl_remap_service_name()
* \sa rcl_remap_node_name()
* \sa rcl_remap_node_namespace()
*
* Parameter override rule parsing is supported via `-p/--param` flags e.g. `--param name:=value`
* or `-p name:=value`.
*
* The default log level will be parsed as `__log_level:=level`, where `level` is a name
* representing one of the log levels in the `RCUTILS_LOG_SEVERITY` enum, e.g. `info`, `debug`,
* `warn`, not case sensitive.
* If multiple of these rules are found, the last one parsed will be used.
*
* \sa rcl_remap_topic_name()
* \sa rcl_remap_service_name()
* \sa rcl_remap_node_name()
* \sa rcl_remap_node_namespace()
* If an argument does not appear to be a known ROS argument, then it is skipped and left unparsed.
*
* \sa rcl_arguments_get_count_unparsed_ros()
* \sa rcl_arguments_get_unparsed_ros()
*
* All arguments found outside a `--ros-args ... --` scope are skipped and left unparsed.
*
* \sa rcl_arguments_get_count_unparsed()
* \sa rcl_arguments_get_unparsed()
*
* <hr>
* Attribute | Adherence
Expand Down
12 changes: 0 additions & 12 deletions rcl/src/rcl/arguments.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -364,18 +364,6 @@ rcl_parse_arguments(
rcl_get_error_string().str);
rcl_reset_error();

// Attempt to parse 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], allocator, rule)) {
++(args_impl->num_remap_rules);
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule. Error: %s", i, argv[i],
rcl_get_error_string().str);
rcl_reset_error();

// Attempt to parse argument as log level configuration
int log_level;
if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {
Expand Down
141 changes: 74 additions & 67 deletions rcl/test/rcl/test_arguments.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,9 @@ class CLASSNAME (TestArgumentsFixture, RMW_IMPLEMENTATION) : public ::testing::T
} while (0)

bool
are_valid_ros_args(int argc, std::vector<const char *> argv)
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);
Expand All @@ -117,74 +118,80 @@ are_valid_ros_args(int argc, std::vector<const char *> argv)
return is_valid;
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
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"}));
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"}));
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", "__params:=file_name.yaml"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--remap"}));

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

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--param"}));

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

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

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

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

// Setting logger level
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"}));
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"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:=foo"}));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
Expand Down
Loading