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

* Support rcl_params_t copies. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Parse parameter overrides from command line. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Parameter overrides' tests passing. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Test rcl_yaml_node_struct_copy() function Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Export rcl_yaml_param_parser as rcl dependency. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Zero initialize parameter overrides before rcl arguments copy. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Initialize local variables early enough. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Simplify rcl package.xml Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Assert arguments sanity in rcl args parsing internal functions. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Extend rcl_yaml_param_parser tests to all parameter types. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Address peer review comments. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Support --remap/-r flags. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Please cpplint Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Aug 26, 2019 · 6f98943 · 6f98943
1 parent d070038
commit 6f98943
Show file tree

Hide file tree

Showing 10 changed files with 815 additions and 178 deletions.
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
@@ -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)
@@ -63,6 +64,7 @@ add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
+  "rcl_yaml_param_parser"
   "rmw_implementation"
   "rmw"
   "rcutils"
@@ -94,6 +96,7 @@ ament_export_libraries(${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)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
@@ -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"
@@ -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:="
@@ -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.

diff --git a/rcl/package.xml b/rcl/package.xml
@@ -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>