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sloretzsloretz
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Command line static remapping (#217)
Command line static remapping (ROS1 compatible syntax + nodename prefix)
1 parent 7008a7d commit 3628967

20 files changed

+2550
-91
lines changed

‎rcl/CMakeLists.txt‎

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@@ -27,6 +27,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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endif()
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set(${PROJECT_NAME}_sources
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src/rcl/arguments.c
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src/rcl/client.c
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src/rcl/common.c
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src/rcl/expand_topic_name.c
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src/rcl/node.c
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src/rcl/publisher.c
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src/rcl/rcl.c
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src/rcl/remap.c
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src/rcl/rmw_implementation_identifier_check.c
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src/rcl/service.c
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src/rcl/subscription.c

‎rcl/include/rcl/arguments.h‎

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// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL__ARGUMENTS_H_
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#define RCL__ARGUMENTS_H_
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#include "rcl/allocator.h"
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#include "rcl/macros.h"
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#include "rcl/types.h"
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#include "rcl/visibility_control.h"
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#if __cplusplus
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extern "C"
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{
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#endif
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struct rcl_arguments_impl_t;
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/// Hold output of parsing command line arguments.
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typedef struct rcl_arguments_t
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{
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/// Private implementation pointer.
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struct rcl_arguments_impl_t * impl;
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} rcl_arguments_t;
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/// Return a rcl_node_t struct with members initialized to `NULL`.
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_arguments_t
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rcl_get_zero_initialized_arguments(void);
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/// Parse command line arguments into a structure usable by code.
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/**
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* If an argument does not appear to be a valid ROS argument then it is skipped and parsing
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* continues with the next argument in `argv`.
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* \sa rcl_arguments_get_count_unparsed()
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* \sa rcl_arguments_get_unparsed()
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*
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* Successfully parsed remap rules are stored in the order they were given in `argv`.
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* If given arguments `{"__ns:=/foo", "__ns:=/bar"}` then the namespace used by nodes in this
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* process will be `/foo` and not `/bar`.
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* \sa rcl_remap_topic_name()
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* \sa rcl_remap_service_name()
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* \sa rcl_remap_node_name()
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* \sa rcl_remap_node_namespace()
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | Yes
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] argc The number of arguments in argv.
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* \param[in] argv Whe values of the arguments.
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* \param[in] allocator A valid allocator.
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* \param[out] args_output A structure that will contain the result of parsing.
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* \return `RCL_RET_OK` if the arguments were parsed successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_parse_arguments(
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int argc,
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const char * const argv[],
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rcl_allocator_t allocator,
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rcl_arguments_t * args_output);
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/// Return the number of arguments that were not successfully parsed.
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/**
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | Yes
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] args An arguments structure that has been parsed.
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* \return number of unparsed arguments, or
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* \return -1 if args is `NULL` or zero initialized.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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int
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rcl_arguments_get_count_unparsed(
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rcl_arguments_t * args);
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/// Return a list of indexes that weren't successfully parsed.
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/**
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* Some arguments may not have been successfully parsed, or were not intended as ROS arguments.
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* This function populates an array of indexes to these arguments in the original argv array.
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* Since the first argument is always assumed to be a process name, the list will always contain
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* the index 0.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | Yes
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] args An arguments structure that has been parsed.
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* \param[in] allocator A valid allocator.
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* \param[out] output_unparsed_indices An allocated array of indices into the original argv array.
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* This array must be deallocated by the caller using the given allocator.
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* If there are no unparsed args then the output will be set to NULL.
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* \return `RCL_RET_OK` if everything goes correctly, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_arguments_get_unparsed(
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rcl_arguments_t * args,
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rcl_allocator_t allocator,
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int ** output_unparsed_indices);
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/// Reclaim resources held inside rcl_arguments_t structure.
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/**
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | Yes
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] args The structure to be deallocated.
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* \param[in] allocator A valid allocator.
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* \return `RCL_RET_OK` if the memory was successfully freed, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_arguments_fini(
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rcl_arguments_t * args);
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/// Get a global instance of command line arguments.
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/**
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* \sa rcl_init(int, char **, rcl_allocator_t)
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* \sa rcl_shutdown()
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* This returns parsed command line arguments that were passed to `rcl_init()`.
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* The value returned by this function is undefined before `rcl_init()` is called and after
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* `rcl_shutdown()` is called.
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* The return value must not be finalized.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | Yes
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \return a global instance of parsed command line arguments.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_arguments_t *
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rcl_get_global_arguments();
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#if __cplusplus
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}
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#endif
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#endif // RCL__ARGUMENTS_H_

‎rcl/include/rcl/node.h‎

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@@ -23,6 +23,7 @@ extern "C"
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#include <stdint.h>
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#include "rcl/allocator.h"
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#include "rcl/arguments.h"
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#include "rcl/macros.h"
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#include "rcl/types.h"
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#include "rcl/visibility_control.h"
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/// Custom allocator used for internal allocations.
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rcl_allocator_t allocator;
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/// If false then only use arguments in this struct, otherwise use global arguments also.
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bool use_global_arguments;
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/// Command line arguments that apply only to this node.
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rcl_arguments_t arguments;
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} rcl_node_options_t;
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/// Return a rcl_node_t struct with members initialized to `NULL`.

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