From 714751b38c4e53bbefb4a2baa70128f826cb546b Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Tue, 5 Jun 2018 17:07:14 -0700
Subject: [PATCH 01/18] Set default logger level from command line

---
 rcl/src/rcl/arguments.c | 62 ++++++++++++++++++++++++++++++++++++++---
 1 file changed, 58 insertions(+), 4 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index f16994d17..ac5e4dc53 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -98,6 +98,22 @@ rcl_arguments_get_param_files_count(
   return args->impl->num_param_files_args;
 }
 
+/// Parse an argument that may or may not be a remap rule.
+/// \param[in] arg the argument to parse
+/// \param[in] allocator an allocator to use
+/// \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
+/// \return RCL_RET_OK if a valid rule was parsed, or
+/// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
+/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
+/// \return RLC_RET_ERROR if an unspecified error occurred.
+/// \internal
+RCL_LOCAL
+rcl_ret_t
+_rcl_parse_log_level(
+  const char * arg,
+  rcl_allocator_t allocator,
+  int * log_level);
+
 rcl_ret_t
 rcl_parse_arguments(
   int argc,
@@ -157,8 +173,10 @@ rcl_parse_arguments(
     goto fail;
   }
 
+
   // Attempt to parse arguments as remap rules
   for (int i = 0; i < argc; ++i) {
+    int log_level;
     rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
     *rule = rcl_remap_get_zero_initialized();
     args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
@@ -174,11 +192,16 @@ rcl_parse_arguments(
     } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
       ++(args_impl->num_remap_rules);
     } else {
-      RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
-        rcl_get_error_string());
+      // Attempt to parse argument as log level configuration
+      if (RCL_RET_OK == _rcl_parse_log_level(argv[i], allocator, &log_level)) {
+        rcutils_logging_set_default_logger_level(log_level);
+      } else {
+        RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
+          rcl_get_error_string());
+        args_impl->unparsed_args[args_impl->num_unparsed_args] = i;
+        ++(args_impl->num_unparsed_args);
+      }
       rcl_reset_error();
-      args_impl->unparsed_args[args_impl->num_unparsed_args] = i;
-      ++(args_impl->num_unparsed_args);
     }
   }
 
@@ -933,6 +956,37 @@ _rcl_parse_remap_begin_remap_rule(
   return ret;
 }
 
+rcl_ret_t
+_rcl_parse_log_level(
+  const char * arg,
+  rcl_allocator_t allocator,
+  int * log_level)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCL_CHECK_ARGUMENT_FOR_NULL(log_level, RCL_RET_INVALID_ARGUMENT, allocator);
+
+  const char * severity_string = arg;
+  int severity;
+  if (strcmp("__log:=DEBUG", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_DEBUG;
+  } else if (strcmp("__log:=INFO", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_INFO;
+  } else if (strcmp("__log:=WARN", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_WARN;
+  } else if (strcmp("__log:=ERROR", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_ERROR;
+  } else if (strcmp("__log:=FATAL", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_FATAL;
+  } else if (strcmp("__log:=UNSET", severity_string) == 0) {
+    severity = RCUTILS_LOG_SEVERITY_UNSET;
+  } else {
+    return RCL_RET_ERROR;
+  }
+  *log_level = severity;
+  return RCL_RET_OK;
+}
+
+
 rcl_ret_t
 _rcl_parse_remap_rule(
   const char * arg,

From dc35947f52a2662dde9ad09f79f8c82fdf92f184 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Wed, 6 Jun 2018 14:02:32 -0700
Subject: [PATCH 02/18] Return INVALID_REMAP_RULE

---
 rcl/src/rcl/arguments.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index ac5e4dc53..18d1a5246 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -38,8 +38,8 @@ static rcl_arguments_t __rcl_global_arguments;
 /// Parse an argument that may or may not be a remap rule.
 /// \param[in] arg the argument to parse
 /// \param[in] allocator an allocator to use
-/// \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
-/// \return RCL_RET_OK if a valid rule was parsed, or
+/// \param[in,out] log_level parsed log level represented by RCUTILS_LOG_SEVERITY enum
+/// \return RCL_RET_OK if a valid log level was parsed, or
 /// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
 /// \return RCL_RET_BAD_ALLOC if an allocation failed, or
 /// \return RLC_RET_ERROR if an unspecified error occurred.
@@ -980,7 +980,7 @@ _rcl_parse_log_level(
   } else if (strcmp("__log:=UNSET", severity_string) == 0) {
     severity = RCUTILS_LOG_SEVERITY_UNSET;
   } else {
-    return RCL_RET_ERROR;
+    return RCL_INVALID_REMAP_RULE;
   }
   *log_level = severity;
   return RCL_RET_OK;

From 08b6266d033e14a1f96c99f1621739d5725d02a3 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Wed, 6 Jun 2018 14:08:12 -0700
Subject: [PATCH 03/18] Add tests

---
 rcl/test/rcl/test_arguments.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index bd28342b2..b8f8ce616 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -119,6 +119,18 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_FALSE(is_valid_arg("rostopic://:=rosservice"));
   EXPECT_FALSE(is_valid_arg("rostopic::=rosservice"));
   EXPECT_FALSE(is_valid_arg("__param:=node_name"));
+
+  // Setting logger level
+  EXPECT_TRUE(is_valid_arg("__log:=UNSET"));
+  EXPECT_TRUE(is_valid_arg("__log:=DEBUG"));
+  EXPECT_TRUE(is_valid_arg("__log:=INFO"));
+  EXPECT_TRUE(is_valid_arg("__log:=WARN"));
+  EXPECT_TRUE(is_valid_arg("__log:=ERROR"));
+  EXPECT_TRUE(is_valid_arg("__log:=FATAL"));
+
+  EXPECT_FALSE(is_valid_arg("__log:=Debug"));
+  EXPECT_FALSE(is_valid_arg("__log:="));
+  EXPECT_FALSE(is_valid_arg("__log:=foo"));
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {

From 10b405667f7fdc695328bc4bb3fc8719edc7dc1d Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Wed, 6 Jun 2018 16:03:16 -0700
Subject: [PATCH 04/18] Do string parsing in rcutils

---
 rcl/src/rcl/arguments.c         | 28 +++++++++++-----------------
 rcl/test/rcl/test_arguments.cpp |  3 ++-
 2 files changed, 13 insertions(+), 18 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 18d1a5246..d02fd90bf 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -22,6 +22,7 @@
 #include "rcl/lexer_lookahead.h"
 #include "rcl/validate_topic_name.h"
 #include "rcutils/allocator.h"
+#include "rcutils/logging.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 #include "rmw/validate_namespace.h"
@@ -194,6 +195,7 @@ rcl_parse_arguments(
     } else {
       // Attempt to parse argument as log level configuration
       if (RCL_RET_OK == _rcl_parse_log_level(argv[i], allocator, &log_level)) {
+        // Set the log level immediately so it can take effect for the rest of the argument parsing.
         rcutils_logging_set_default_logger_level(log_level);
       } else {
         RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
@@ -965,25 +967,17 @@ _rcl_parse_log_level(
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(log_level, RCL_RET_INVALID_ARGUMENT, allocator);
 
+  static const char LOG_ARG_RULE[] = "__log:=";
   const char * severity_string = arg;
-  int severity;
-  if (strcmp("__log:=DEBUG", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_DEBUG;
-  } else if (strcmp("__log:=INFO", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_INFO;
-  } else if (strcmp("__log:=WARN", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_WARN;
-  } else if (strcmp("__log:=ERROR", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_ERROR;
-  } else if (strcmp("__log:=FATAL", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_FATAL;
-  } else if (strcmp("__log:=UNSET", severity_string) == 0) {
-    severity = RCUTILS_LOG_SEVERITY_UNSET;
-  } else {
-    return RCL_INVALID_REMAP_RULE;
+  if (strncmp(LOG_ARG_RULE, severity_string, strlen(LOG_ARG_RULE)) != 0) {
+    return RCL_RET_INVALID_REMAP_RULE;
   }
-  *log_level = severity;
-  return RCL_RET_OK;
+  rcutils_ret_t ret = rcutils_logging_severity_level_from_string(
+    severity_string + strlen(LOG_ARG_RULE), allocator, log_level);
+  if (RCUTILS_RET_OK == ret) {
+    return RCL_RET_OK;
+  }
+  return RCL_RET_INVALID_REMAP_RULE;
 }
 
 
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index b8f8ce616..fafc3e6ba 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -127,8 +127,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_TRUE(is_valid_arg("__log:=WARN"));
   EXPECT_TRUE(is_valid_arg("__log:=ERROR"));
   EXPECT_TRUE(is_valid_arg("__log:=FATAL"));
+  EXPECT_TRUE(is_valid_arg("__log:=debug"));
+  EXPECT_TRUE(is_valid_arg("__log:=Info"));
 
-  EXPECT_FALSE(is_valid_arg("__log:=Debug"));
   EXPECT_FALSE(is_valid_arg("__log:="));
   EXPECT_FALSE(is_valid_arg("__log:=foo"));
 }

From 64792693681808f6db55fb23a69dfed64d1ff9d9 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 11:54:05 -0700
Subject: [PATCH 05/18] Set log level after parsing all arguments

Less convenient but seems cleaner
---
 rcl/src/rcl/arguments.c      | 4 ++--
 rcl/src/rcl/arguments_impl.h | 3 +++
 rcl/src/rcl/rcl.c            | 6 ++++++
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index d02fd90bf..df564a746 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -146,6 +146,7 @@ rcl_parse_arguments(
   rcl_arguments_impl_t * args_impl = args_output->impl;
   args_impl->num_remap_rules = 0;
   args_impl->remap_rules = NULL;
+  args_impl->log_level = -1;
   args_impl->unparsed_args = NULL;
   args_impl->num_unparsed_args = 0;
   args_impl->parameter_files = NULL;
@@ -195,8 +196,7 @@ rcl_parse_arguments(
     } else {
       // Attempt to parse argument as log level configuration
       if (RCL_RET_OK == _rcl_parse_log_level(argv[i], allocator, &log_level)) {
-        // Set the log level immediately so it can take effect for the rest of the argument parsing.
-        rcutils_logging_set_default_logger_level(log_level);
+        args_impl->log_level = log_level;
       } else {
         RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
           rcl_get_error_string());
diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index d2a0e4274..eec52b2a6 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -42,6 +42,9 @@ typedef struct rcl_arguments_impl_t
   /// Length of remap_rules.
   int num_remap_rules;
 
+  /// Default log level (represented by `RCUTILS_LOG_SEVERITY` enum or -1 if not specified.
+  int log_level;
+
   /// Allocator used to allocate objects in this struct
   rcl_allocator_t allocator;
 } rcl_arguments_impl_t;
diff --git a/rcl/src/rcl/rcl.c b/rcl/src/rcl/rcl.c
index ca4d2fa8f..7f12c3d65 100644
--- a/rcl/src/rcl/rcl.c
+++ b/rcl/src/rcl/rcl.c
@@ -117,6 +117,12 @@ rcl_init(int argc, char const * const * argv, rcl_allocator_t allocator)
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+
+  // Update the default log level if specified in arguments.
+  if (global_args->impl->log_level >= 0) {
+    rcutils_logging_set_default_logger_level(global_args->impl->log_level);
+  }
+
   rcl_atomic_store(&__rcl_instance_id, ++__rcl_next_unique_id);
   if (rcl_atomic_load_uint64_t(&__rcl_instance_id) == 0) {
     // Roll over occurred.

From 73b987a072d28d4f9cd4a5447469778fead26cfc Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 12:53:14 -0700
Subject: [PATCH 06/18] Document log arg format, custom return code

---
 rcl/include/rcl/arguments.h |  7 +++++++
 rcl/include/rcl/types.h     |  2 ++
 rcl/src/rcl/arguments.c     | 14 ++++++--------
 3 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 64f310e3b..2c850a2ba 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -34,6 +34,8 @@ typedef struct rcl_arguments_t
   struct rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
+static const char LOG_LEVEL_ARG_RULE[] = "__log:=";
+
 /// Return a rcl_node_t struct with members initialized to `NULL`.
 RCL_PUBLIC
 RCL_WARN_UNUSED
@@ -52,6 +54,11 @@ rcl_get_zero_initialized_arguments(void);
  * 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`.
+ *
+ * The default log level will be parsed as `__log:=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.
+ *
  * \sa rcl_remap_topic_name()
  * \sa rcl_remap_service_name()
  * \sa rcl_remap_node_name()
diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h
index 725161b69..0e6bfd729 100644
--- a/rcl/include/rcl/types.h
+++ b/rcl/include/rcl/types.h
@@ -94,5 +94,7 @@ typedef rmw_ret_t rcl_ret_t;
 #define RCL_RET_WRONG_LEXEME 1002
 /// Argument is not a valid parameter rule
 #define RCL_RET_INVALID_PARAM_RULE 1010
+/// Argument is not a valid log level rule
+#define RCL_RET_INVALID_LOG_LEVEL_RULE 1020
 
 #endif  // RCL__TYPES_H_
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index df564a746..c7aecf634 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -960,24 +960,22 @@ _rcl_parse_remap_begin_remap_rule(
 
 rcl_ret_t
 _rcl_parse_log_level(
-  const char * arg,
+  const char * severity_string,
   rcl_allocator_t allocator,
   int * log_level)
 {
-  RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCL_CHECK_ARGUMENT_FOR_NULL(severity_string, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(log_level, RCL_RET_INVALID_ARGUMENT, allocator);
 
-  static const char LOG_ARG_RULE[] = "__log:=";
-  const char * severity_string = arg;
-  if (strncmp(LOG_ARG_RULE, severity_string, strlen(LOG_ARG_RULE)) != 0) {
-    return RCL_RET_INVALID_REMAP_RULE;
+  if (strncmp(LOG_LEVEL_ARG_RULE, severity_string, strlen(LOG_LEVEL_ARG_RULE)) != 0) {
+    return RCL_RET_INVALID_LOG_LEVEL_RULE;
   }
   rcutils_ret_t ret = rcutils_logging_severity_level_from_string(
-    severity_string + strlen(LOG_ARG_RULE), allocator, log_level);
+    severity_string + strlen(LOG_LEVEL_ARG_RULE), allocator, log_level);
   if (RCUTILS_RET_OK == ret) {
     return RCL_RET_OK;
   }
-  return RCL_RET_INVALID_REMAP_RULE;
+  return RCL_RET_INVALID_LOG_LEVEL_RULE;
 }
 
 

From eb72a1a7462d23c0571a13eed741072b6c421b91 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 14:06:17 -0700
Subject: [PATCH 07/18] Rename function

---
 rcl/src/rcl/arguments.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index c7aecf634..402b110f5 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -102,15 +102,15 @@ rcl_arguments_get_param_files_count(
 /// Parse an argument that may or may not be a remap rule.
 /// \param[in] arg the argument to parse
 /// \param[in] allocator an allocator to use
-/// \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
-/// \return RCL_RET_OK if a valid rule was parsed, or
-/// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
+/// \param[in,out] log_level parsed log level represented by RCUTILS_LOG_SEVERITY enum
+/// \return RCL_RET_OK if a valid log level was parsed, or
+/// \return RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or
 /// \return RCL_RET_BAD_ALLOC if an allocation failed, or
 /// \return RLC_RET_ERROR if an unspecified error occurred.
 /// \internal
 RCL_LOCAL
 rcl_ret_t
-_rcl_parse_log_level(
+_rcl_parse_log_level_rule(
   const char * arg,
   rcl_allocator_t allocator,
   int * log_level);
@@ -195,7 +195,7 @@ rcl_parse_arguments(
       ++(args_impl->num_remap_rules);
     } else {
       // Attempt to parse argument as log level configuration
-      if (RCL_RET_OK == _rcl_parse_log_level(argv[i], allocator, &log_level)) {
+      if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {
         args_impl->log_level = log_level;
       } else {
         RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
@@ -959,7 +959,7 @@ _rcl_parse_remap_begin_remap_rule(
 }
 
 rcl_ret_t
-_rcl_parse_log_level(
+_rcl_parse_log_level_rule(
   const char * severity_string,
   rcl_allocator_t allocator,
   int * log_level)

From 77b1a8c98da74d74f47b731924f8ccee0f5dacca Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 16:01:50 -0700
Subject: [PATCH 08/18] Rename argument

---
 rcl/src/rcl/arguments.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 402b110f5..02faf4751 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -960,18 +960,18 @@ _rcl_parse_remap_begin_remap_rule(
 
 rcl_ret_t
 _rcl_parse_log_level_rule(
-  const char * severity_string,
+  const char * arg,
   rcl_allocator_t allocator,
   int * log_level)
 {
-  RCL_CHECK_ARGUMENT_FOR_NULL(severity_string, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(log_level, RCL_RET_INVALID_ARGUMENT, allocator);
 
-  if (strncmp(LOG_LEVEL_ARG_RULE, severity_string, strlen(LOG_LEVEL_ARG_RULE)) != 0) {
+  if (strncmp(LOG_LEVEL_ARG_RULE, arg, strlen(LOG_LEVEL_ARG_RULE)) != 0) {
     return RCL_RET_INVALID_LOG_LEVEL_RULE;
   }
   rcutils_ret_t ret = rcutils_logging_severity_level_from_string(
-    severity_string + strlen(LOG_LEVEL_ARG_RULE), allocator, log_level);
+    arg + strlen(LOG_LEVEL_ARG_RULE), allocator, log_level);
   if (RCUTILS_RET_OK == ret) {
     return RCL_RET_OK;
   }

From 7d5c90de5ce9c37377032bc96db5ae48c1d9219a Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 16:15:53 -0700
Subject: [PATCH 09/18] Refactor argument parsing after rebasing to include
 param files

---
 rcl/include/rcl/arguments.h |  3 +-
 rcl/src/rcl/arguments.c     | 63 +++++++++++++++++++++++--------------
 2 files changed, 42 insertions(+), 24 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 2c850a2ba..07a24ef61 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -34,7 +34,8 @@ typedef struct rcl_arguments_t
   struct rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
-static const char LOG_LEVEL_ARG_RULE[] = "__log:=";
+#define RCL_LOG_LEVEL_ARG_RULE "__log:="
+#define RCL_PARAM_FILE_ARG_RULE "__params:="
 
 /// Return a rcl_node_t struct with members initialized to `NULL`.
 RCL_PUBLIC
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 02faf4751..a172491d1 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -175,12 +175,8 @@ rcl_parse_arguments(
     goto fail;
   }
 
-
-  // Attempt to parse arguments as remap rules
   for (int i = 0; i < argc; ++i) {
-    int log_level;
-    rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
-    *rule = rcl_remap_get_zero_initialized();
+    // Attempt to parse argument as parameter file rule
     args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
     if (
       RCL_RET_OK == _rcl_parse_param_rule(
@@ -190,21 +186,39 @@ rcl_parse_arguments(
       RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
         "params rule : %s\n total num param rules %d",
         args_impl->parameter_files[args_impl->num_param_files_args - 1],
-        args_impl->num_param_files_args)
-    } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
+        args_impl->num_param_files_args);
+      continue;
+    }
+    RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+      "Couldn't parse arg %d (%s) as parameter file rule. Error: %s", i, argv[i],
+      rcl_get_error_string());
+    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_remap_get_zero_initialized();
+    if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
       ++(args_impl->num_remap_rules);
-    } else {
-      // Attempt to parse argument as log level configuration
-      if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {
-        args_impl->log_level = log_level;
-      } else {
-        RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
-          rcl_get_error_string());
-        args_impl->unparsed_args[args_impl->num_unparsed_args] = i;
-        ++(args_impl->num_unparsed_args);
-      }
-      rcl_reset_error();
+      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());
+    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)) {
+      args_impl->log_level = log_level;
+      continue;
+    }
+    RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+      "Couldn't parse arg %d (%s) as log level rule. Error: %s", i, argv[i],
+      rcl_get_error_string());
+    rcl_reset_error();
+
+    // Argument wasn't parsed by any rule
+    args_impl->unparsed_args[args_impl->num_unparsed_args] = i;
+    ++(args_impl->num_unparsed_args);
   }
 
   // Shrink remap_rules array to match number of successfully parsed rules
@@ -967,14 +981,16 @@ _rcl_parse_log_level_rule(
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(log_level, RCL_RET_INVALID_ARGUMENT, allocator);
 
-  if (strncmp(LOG_LEVEL_ARG_RULE, arg, strlen(LOG_LEVEL_ARG_RULE)) != 0) {
+  if (strncmp(RCL_LOG_LEVEL_ARG_RULE, arg, strlen(RCL_LOG_LEVEL_ARG_RULE)) != 0) {
+    RCL_SET_ERROR_MSG("Argument does not start with '" RCL_LOG_LEVEL_ARG_RULE "'", allocator);
     return RCL_RET_INVALID_LOG_LEVEL_RULE;
   }
   rcutils_ret_t ret = rcutils_logging_severity_level_from_string(
-    arg + strlen(LOG_LEVEL_ARG_RULE), allocator, log_level);
+    arg + strlen(RCL_LOG_LEVEL_ARG_RULE), allocator, log_level);
   if (RCUTILS_RET_OK == ret) {
     return RCL_RET_OK;
   }
+  RCL_SET_ERROR_MSG("Argument does not use a valid severity level", allocator);
   return RCL_RET_INVALID_LOG_LEVEL_RULE;
 }
 
@@ -1022,17 +1038,18 @@ _rcl_parse_param_rule(
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
 
-  const char * param_prefix = "__params:=";
-  const size_t param_prefix_len = strlen(param_prefix);
-  if (strncmp(param_prefix, arg, param_prefix_len) == 0) {
+  const size_t param_prefix_len = strlen(RCL_PARAM_FILE_ARG_RULE);
+  if (strncmp(RCL_PARAM_FILE_ARG_RULE, arg, param_prefix_len) == 0) {
     size_t outlen = strlen(arg) - param_prefix_len;
     *output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
     if (NULL == output_rule) {
+      RCL_SET_ERROR_MSG("Failed to allocate memory for parameters file path", allocator)
       return RCL_RET_BAD_ALLOC;
     }
     snprintf(*output_rule, outlen + 1, "%s", arg + param_prefix_len);
     return RCL_RET_OK;
   }
+  RCL_SET_ERROR_MSG("Argument does not start with '" RCL_PARAM_FILE_ARG_RULE "'", allocator);
   return RCL_RET_INVALID_PARAM_RULE;
 }
 

From 0cf31b5a6601ff3278017e3584e98151c9f162d9 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 16:41:46 -0700
Subject: [PATCH 10/18] Renaming from param files support

---
 rcl/src/rcl/arguments.c         | 26 ++++++++++++++++++--------
 rcl/test/rcl/test_arguments.cpp |  4 ++--
 2 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index a172491d1..4401be34e 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -52,12 +52,22 @@ _rcl_parse_remap_rule(
   rcl_allocator_t allocator,
   rcl_remap_t * output_rule);
 
+/// Parse an argument that may or may not be a parameter file rule.
+/// The syntax of the file name is not validated.
+/// \param[in] arg the argument to parse
+/// \param[in] allocator an allocator to use
+/// \param[in,out] param_file string that could be a parameter file name
+/// \return RCL_RET_OK if the rule was parsed correctly, or
+/// \return RCL_RET_INVALID_PARAM_RULE if the argument is not a valid rule, or
+/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
+/// \return RLC_RET_ERROR if an unspecified error occurred.
+/// \internal
 RCL_LOCAL
 rcl_ret_t
-_rcl_parse_param_rule(
+_rcl_parse_param_file_rule(
   const char * arg,
   rcl_allocator_t allocator,
-  char ** output_rule);
+  char ** param_file);
 
 rcl_ret_t
 rcl_arguments_get_param_files(
@@ -179,7 +189,7 @@ rcl_parse_arguments(
     // Attempt to parse argument as parameter file rule
     args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
     if (
-      RCL_RET_OK == _rcl_parse_param_rule(
+      RCL_RET_OK == _rcl_parse_param_file_rule(
         argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args])))
     {
       ++(args_impl->num_param_files_args);
@@ -1031,22 +1041,22 @@ _rcl_parse_remap_rule(
 }
 
 rcl_ret_t
-_rcl_parse_param_rule(
+_rcl_parse_param_file_rule(
   const char * arg,
   rcl_allocator_t allocator,
-  char ** output_rule)
+  char ** param_file)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
 
   const size_t param_prefix_len = strlen(RCL_PARAM_FILE_ARG_RULE);
   if (strncmp(RCL_PARAM_FILE_ARG_RULE, arg, param_prefix_len) == 0) {
     size_t outlen = strlen(arg) - param_prefix_len;
-    *output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
-    if (NULL == output_rule) {
+    *param_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
+    if (NULL == param_file) {
       RCL_SET_ERROR_MSG("Failed to allocate memory for parameters file path", allocator)
       return RCL_RET_BAD_ALLOC;
     }
-    snprintf(*output_rule, outlen + 1, "%s", arg + param_prefix_len);
+    snprintf(*param_file, outlen + 1, "%s", arg + param_prefix_len);
     return RCL_RET_OK;
   }
   RCL_SET_ERROR_MSG("Argument does not start with '" RCL_PARAM_FILE_ARG_RULE "'", allocator);
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index fafc3e6ba..e36232c0e 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -100,7 +100,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_TRUE(is_valid_arg("rostopic://rostopic:=rosservice"));
   EXPECT_TRUE(is_valid_arg("rostopic:///rosservice:=rostopic"));
   EXPECT_TRUE(is_valid_arg("rostopic:///foo/bar:=baz"));
-  EXPECT_TRUE(is_valid_arg("__params:=node_name"));
+  EXPECT_TRUE(is_valid_arg("__params:=file_name.yaml"));
 
   EXPECT_FALSE(is_valid_arg(":="));
   EXPECT_FALSE(is_valid_arg("foo:="));
@@ -118,7 +118,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_FALSE(is_valid_arg("foo:=/b}ar"));
   EXPECT_FALSE(is_valid_arg("rostopic://:=rosservice"));
   EXPECT_FALSE(is_valid_arg("rostopic::=rosservice"));
-  EXPECT_FALSE(is_valid_arg("__param:=node_name"));
+  EXPECT_FALSE(is_valid_arg("__param:=file_name.yaml"));
 
   // Setting logger level
   EXPECT_TRUE(is_valid_arg("__log:=UNSET"));

From 9ac0f8d22c7af0c4e4e91525c7fdf254dc61404a Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 16:41:57 -0700
Subject: [PATCH 11/18] Doc fixup

---
 rcl/src/rcl/arguments.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 4401be34e..9f7197a3c 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -39,8 +39,8 @@ static rcl_arguments_t __rcl_global_arguments;
 /// Parse an argument that may or may not be a remap rule.
 /// \param[in] arg the argument to parse
 /// \param[in] allocator an allocator to use
-/// \param[in,out] log_level parsed log level represented by RCUTILS_LOG_SEVERITY enum
-/// \return RCL_RET_OK if a valid log level was parsed, or
+/// \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
+/// \return RCL_RET_OK if a valid rule was parsed, or
 /// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
 /// \return RCL_RET_BAD_ALLOC if an allocation failed, or
 /// \return RLC_RET_ERROR if an unspecified error occurred.
@@ -109,10 +109,10 @@ rcl_arguments_get_param_files_count(
   return args->impl->num_param_files_args;
 }
 
-/// Parse an argument that may or may not be a remap rule.
+/// Parse an argument that may or may not be a log level rule.
 /// \param[in] arg the argument to parse
 /// \param[in] allocator an allocator to use
-/// \param[in,out] log_level parsed log level represented by RCUTILS_LOG_SEVERITY enum
+/// \param[in,out] log_level parsed log level represented by `RCUTILS_LOG_SEVERITY` enum
 /// \return RCL_RET_OK if a valid log level was parsed, or
 /// \return RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or
 /// \return RCL_RET_BAD_ALLOC if an allocation failed, or

From 3d5cba6b7805cc5cff5e39821a3ec84b0d068a3c Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 17:22:32 -0700
Subject: [PATCH 12/18] __log -> __log_level

---
 rcl/include/rcl/arguments.h     |  2 +-
 rcl/test/rcl/test_arguments.cpp | 22 ++++++++++++----------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 07a24ef61..172429a84 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -34,7 +34,7 @@ typedef struct rcl_arguments_t
   struct rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
-#define RCL_LOG_LEVEL_ARG_RULE "__log:="
+#define RCL_LOG_LEVEL_ARG_RULE "__log_level:="
 #define RCL_PARAM_FILE_ARG_RULE "__params:="
 
 /// Return a rcl_node_t struct with members initialized to `NULL`.
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index e36232c0e..3bb0361f8 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -121,17 +121,19 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_FALSE(is_valid_arg("__param:=file_name.yaml"));
 
   // Setting logger level
-  EXPECT_TRUE(is_valid_arg("__log:=UNSET"));
-  EXPECT_TRUE(is_valid_arg("__log:=DEBUG"));
-  EXPECT_TRUE(is_valid_arg("__log:=INFO"));
-  EXPECT_TRUE(is_valid_arg("__log:=WARN"));
-  EXPECT_TRUE(is_valid_arg("__log:=ERROR"));
-  EXPECT_TRUE(is_valid_arg("__log:=FATAL"));
-  EXPECT_TRUE(is_valid_arg("__log:=debug"));
-  EXPECT_TRUE(is_valid_arg("__log:=Info"));
-
-  EXPECT_FALSE(is_valid_arg("__log:="));
+  EXPECT_TRUE(is_valid_arg("__log_level:=UNSET"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=DEBUG"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=INFO"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=WARN"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=ERROR"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=FATAL"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=debug"));
+  EXPECT_TRUE(is_valid_arg("__log_level:=Info"));
+
   EXPECT_FALSE(is_valid_arg("__log:=foo"));
+  EXPECT_FALSE(is_valid_arg("__loglevel:=foo"));
+  EXPECT_FALSE(is_valid_arg("__log_level:="));
+  EXPECT_FALSE(is_valid_arg("__log_level:=foo"));
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {

From 27fca189c20540f1ea88ed585aa443dae34d3869 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 17:38:02 -0700
Subject: [PATCH 13/18] Use RCUTILS_SAFE_FWRITE_TO_STDERR on bad alloc

---
 rcl/src/rcl/arguments.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 9f7197a3c..2ba65faa0 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -22,6 +22,7 @@
 #include "rcl/lexer_lookahead.h"
 #include "rcl/validate_topic_name.h"
 #include "rcutils/allocator.h"
+#include "rcutils/error_handling.h"
 #include "rcutils/logging.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
@@ -1053,7 +1054,7 @@ _rcl_parse_param_file_rule(
     size_t outlen = strlen(arg) - param_prefix_len;
     *param_file = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
     if (NULL == param_file) {
-      RCL_SET_ERROR_MSG("Failed to allocate memory for parameters file path", allocator)
+      RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to allocate memory for parameters file path\n");
       return RCL_RET_BAD_ALLOC;
     }
     snprintf(*param_file, outlen + 1, "%s", arg + param_prefix_len);

From ed56679f11bd31e4fb3a0b65adb7092163e65afb Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 17:43:11 -0700
Subject: [PATCH 14/18] doc fixup

---
 rcl/src/rcl/arguments_impl.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index eec52b2a6..bb0c049c3 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -42,7 +42,7 @@ typedef struct rcl_arguments_impl_t
   /// Length of remap_rules.
   int num_remap_rules;
 
-  /// Default log level (represented by `RCUTILS_LOG_SEVERITY` enum or -1 if not specified.
+  /// Default log level (represented by `RCUTILS_LOG_SEVERITY` enum) or -1 if not specified.
   int log_level;
 
   /// Allocator used to allocate objects in this struct

From e923448245f1a904e097754cffe523bf82a5cde9 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Thu, 7 Jun 2018 17:44:20 -0700
Subject: [PATCH 15/18] doc fixup

---
 rcl/include/rcl/arguments.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 172429a84..7f9d6c07e 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -56,7 +56,7 @@ rcl_get_zero_initialized_arguments(void);
  * If given arguments `{"__ns:=/foo", "__ns:=/bar"}` then the namespace used by nodes in this
  * process will be `/foo` and not `/bar`.
  *
- * The default log level will be parsed as `__log:=level`, where `level` is a name representing
+ * 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.
  *

From 0ef1505b3416d3eee29037a9790d88e661f81ddd Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Mon, 11 Jun 2018 14:48:00 -0700
Subject: [PATCH 16/18] Document behaviour if multiple __log_level rules found

---
 rcl/include/rcl/arguments.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 7f9d6c07e..86d604c3f 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -56,9 +56,10 @@ rcl_get_zero_initialized_arguments(void);
  * If given arguments `{"__ns:=/foo", "__ns:=/bar"}` then the namespace used by nodes in this
  * process will be `/foo` and not `/bar`.
  *
- * 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.
+ * 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()

From b626c0aa8d40df62d95cfaece51a9e933d9ad3d9 Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Mon, 11 Jun 2018 15:22:43 -0700
Subject: [PATCH 17/18] Update docblock formatting

---
 rcl/src/rcl/arguments.c | 126 ++++++++++++++++++++++++----------------
 1 file changed, 76 insertions(+), 50 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 2ba65faa0..4e70c4fca 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -38,14 +38,16 @@ extern "C"
 static rcl_arguments_t __rcl_global_arguments;
 
 /// Parse an argument that may or may not be a remap rule.
-/// \param[in] arg the argument to parse
-/// \param[in] allocator an allocator to use
-/// \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
-/// \return RCL_RET_OK if a valid rule was parsed, or
-/// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
-/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
-/// \return RLC_RET_ERROR if an unspecified error occurred.
-/// \internal
+/**
+ * \param[in] arg the argument to parse
+ * \param[in] allocator an allocator to use
+ * \param[in,out] output_rule input a zero intialized rule, output a fully initialized one
+ * \return RCL_RET_OK if a valid rule was parsed, or
+ * \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
+ * \return RCL_RET_BAD_ALLOC if an allocation failed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_rule(
@@ -54,15 +56,17 @@ _rcl_parse_remap_rule(
   rcl_remap_t * output_rule);
 
 /// Parse an argument that may or may not be a parameter file rule.
-/// The syntax of the file name is not validated.
-/// \param[in] arg the argument to parse
-/// \param[in] allocator an allocator to use
-/// \param[in,out] param_file string that could be a parameter file name
-/// \return RCL_RET_OK if the rule was parsed correctly, or
-/// \return RCL_RET_INVALID_PARAM_RULE if the argument is not a valid rule, or
-/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
-/// \return RLC_RET_ERROR if an unspecified error occurred.
-/// \internal
+/**
+ * The syntax of the file name is not validated.
+ * \param[in] arg the argument to parse
+ * \param[in] allocator an allocator to use
+ * \param[in,out] param_file string that could be a parameter file name
+ * \return RCL_RET_OK if the rule was parsed correctly, or
+ * \return RCL_RET_INVALID_PARAM_RULE if the argument is not a valid rule, or
+ * \return RCL_RET_BAD_ALLOC if an allocation failed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_param_file_rule(
@@ -111,14 +115,16 @@ rcl_arguments_get_param_files_count(
 }
 
 /// Parse an argument that may or may not be a log level rule.
-/// \param[in] arg the argument to parse
-/// \param[in] allocator an allocator to use
-/// \param[in,out] log_level parsed log level represented by `RCUTILS_LOG_SEVERITY` enum
-/// \return RCL_RET_OK if a valid log level was parsed, or
-/// \return RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or
-/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
-/// \return RLC_RET_ERROR if an unspecified error occurred.
-/// \internal
+/**
+ * \param[in] arg the argument to parse
+ * \param[in] allocator an allocator to use
+ * \param[in,out] log_level parsed log level represented by `RCUTILS_LOG_SEVERITY` enum
+ * \return RCL_RET_OK if a valid log level was parsed, or
+ * \return RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or
+ * \return RCL_RET_BAD_ALLOC if an allocation failed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_log_level_rule(
@@ -515,8 +521,10 @@ rcl_get_global_arguments()
 }
 
 /// Parses a fully qualified namespace for a namespace replacement rule (ex: `/foo/bar`)
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_fully_qualified_namespace(
@@ -547,8 +555,10 @@ _rcl_parse_remap_fully_qualified_namespace(
 }
 
 /// Parse either a token or a backreference (ex: `bar`, or `\7`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_replacement_token(
@@ -580,8 +590,10 @@ _rcl_parse_remap_replacement_token(
 }
 
 /// Parse the replacement side of a name remapping rule (ex: `bar/\1/foo`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_replacement_name(
@@ -646,8 +658,10 @@ _rcl_parse_remap_replacement_name(
 }
 
 /// Parse either a token or a wildcard (ex: `foobar`, or `*`, or `**`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_match_token(
@@ -679,8 +693,10 @@ _rcl_parse_remap_match_token(
 }
 
 /// Parse the match side of a name remapping rule (ex: `rostopic://foo`)
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_match_name(
@@ -762,8 +778,10 @@ _rcl_parse_remap_match_name(
 }
 
 /// Parse a name remapping rule (ex: `rostopic:///foo:=bar`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_name_remap(
@@ -791,8 +809,10 @@ _rcl_parse_remap_name_remap(
 }
 
 /// Parse a namespace replacement rule (ex: `__ns:=/new/ns`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_namespace_replacement(
@@ -848,8 +868,10 @@ _rcl_parse_remap_namespace_replacement(
 }
 
 /// Parse a nodename replacement rule (ex: `__node:=new_name`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_nodename_replacement(
@@ -890,8 +912,10 @@ _rcl_parse_remap_nodename_replacement(
 }
 
 /// Parse a nodename prefix including trailing colon (ex: `node_name:`).
-/// \sa _rcl_parse_remap_begin_remap_rule()
-/// \internal
+/**
+ * \sa _rcl_parse_remap_begin_remap_rule()
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_nodename_prefix(
@@ -923,13 +947,15 @@ _rcl_parse_remap_nodename_prefix(
 }
 
 /// Start recursive descent parsing of a remap rule.
-/// \param[in] lex_lookahead a lookahead(2) buffer for the parser to use.
-/// \param[in,out] rule input a zero intialized rule, output a fully initialized one.
-/// \return RCL_RET_OK if a valid rule was parsed, or
-/// \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
-/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
-/// \return RLC_RET_ERROR if an unspecified error occurred.
-/// \internal
+/**
+ * \param[in] lex_lookahead a lookahead(2) buffer for the parser to use.
+ * \param[in,out] rule input a zero intialized rule, output a fully initialized one.
+ * \return RCL_RET_OK if a valid rule was parsed, or
+ * \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
+ * \return RCL_RET_BAD_ALLOC if an allocation failed, or
+ * \return RLC_RET_ERROR if an unspecified error occurred.
+ * \internal
+ */
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_remap_begin_remap_rule(

From 3307ff734681e4ba53075c1dad95f88ad4e052ba Mon Sep 17 00:00:00 2001
From: dhood <dhood@users.noreply.github.com>
Date: Mon, 11 Jun 2018 15:53:46 -0700
Subject: [PATCH 18/18] Label all documentation in arguments.c as internal

---
 rcl/Doxyfile            |  4 ++++
 rcl/src/rcl/arguments.c | 17 ++++-------------
 2 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/rcl/Doxyfile b/rcl/Doxyfile
index d58f95ba3..30dbcae3c 100644
--- a/rcl/Doxyfile
+++ b/rcl/Doxyfile
@@ -19,6 +19,10 @@ EXPAND_ONLY_PREDEF     = YES
 PREDEFINED             += RCL_PUBLIC=
 PREDEFINED             += RCL_WARN_UNUSED=
 
+# Uncomment to generate internal documentation.
+ENABLED_SECTIONS       = INTERNAL
+INPUT                  += ./src/rcl/arguments.c
+
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
 # Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 4e70c4fca..6b05dec0a 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/// \cond INTERNAL  // Internal Doxygen documentation
+
 #include "rcl/arguments.h"
 
 #include <string.h>
@@ -46,7 +48,6 @@ static rcl_arguments_t __rcl_global_arguments;
  * \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
  * \return RCL_RET_BAD_ALLOC if an allocation failed, or
  * \return RLC_RET_ERROR if an unspecified error occurred.
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -65,7 +66,6 @@ _rcl_parse_remap_rule(
  * \return RCL_RET_INVALID_PARAM_RULE if the argument is not a valid rule, or
  * \return RCL_RET_BAD_ALLOC if an allocation failed, or
  * \return RLC_RET_ERROR if an unspecified error occurred.
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -123,7 +123,6 @@ rcl_arguments_get_param_files_count(
  * \return RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or
  * \return RCL_RET_BAD_ALLOC if an allocation failed, or
  * \return RLC_RET_ERROR if an unspecified error occurred.
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -523,7 +522,6 @@ rcl_get_global_arguments()
 /// Parses a fully qualified namespace for a namespace replacement rule (ex: `/foo/bar`)
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -557,7 +555,6 @@ _rcl_parse_remap_fully_qualified_namespace(
 /// Parse either a token or a backreference (ex: `bar`, or `\7`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -592,7 +589,6 @@ _rcl_parse_remap_replacement_token(
 /// Parse the replacement side of a name remapping rule (ex: `bar/\1/foo`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -660,7 +656,6 @@ _rcl_parse_remap_replacement_name(
 /// Parse either a token or a wildcard (ex: `foobar`, or `*`, or `**`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -695,7 +690,6 @@ _rcl_parse_remap_match_token(
 /// Parse the match side of a name remapping rule (ex: `rostopic://foo`)
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -780,7 +774,6 @@ _rcl_parse_remap_match_name(
 /// Parse a name remapping rule (ex: `rostopic:///foo:=bar`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -811,7 +804,6 @@ _rcl_parse_remap_name_remap(
 /// Parse a namespace replacement rule (ex: `__ns:=/new/ns`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -870,7 +862,6 @@ _rcl_parse_remap_namespace_replacement(
 /// Parse a nodename replacement rule (ex: `__node:=new_name`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -914,7 +905,6 @@ _rcl_parse_remap_nodename_replacement(
 /// Parse a nodename prefix including trailing colon (ex: `node_name:`).
 /**
  * \sa _rcl_parse_remap_begin_remap_rule()
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -954,7 +944,6 @@ _rcl_parse_remap_nodename_prefix(
  * \return RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or
  * \return RCL_RET_BAD_ALLOC if an allocation failed, or
  * \return RLC_RET_ERROR if an unspecified error occurred.
- * \internal
  */
 RCL_LOCAL
 rcl_ret_t
@@ -1093,3 +1082,5 @@ _rcl_parse_param_file_rule(
 #ifdef __cplusplus
 }
 #endif
+
+/// \endcond  // Internal Doxygen documentation