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Enforce -r/--remap flags. (#491)

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* Enforce -r/--remap flags.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Cast size_t to int explicitly.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-09-03 14:35:05 -03:00 • committed by GitHub
parent 6f989433bc
commit 2740a436f6
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
5 changed files with 142 additions and 135 deletions
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30
rcl/include/rcl/arguments.h
View file

@ -57,26 +57,38 @@ rcl_get_zero_initialized_arguments(void);
/// Parse command line arguments into a structure usable by code. /// 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_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`. * 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 * If given arguments `{"__ns:=/foo", "__ns:=/bar"}` then the namespace used by nodes in this
* process will be `/foo` and not `/bar`. * 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 * 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`, * representing one of the log levels in the `RCUTILS_LOG_SEVERITY` enum, e.g. `info`, `debug`,
* `warn`, not case sensitive. * `warn`, not case sensitive.
* If multiple of these rules are found, the last one parsed will be used. * If multiple of these rules are found, the last one parsed will be used.
* *
* \sa rcl_remap_topic_name() * If an argument does not appear to be a known ROS argument, then it is skipped and left unparsed.
* \sa rcl_remap_service_name() *
* \sa rcl_remap_node_name() * \sa rcl_arguments_get_count_unparsed_ros()
* \sa rcl_remap_node_namespace() * \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> * <hr>
* Attribute | Adherence * Attribute | Adherence

12
rcl/src/rcl/arguments.c
View file

@ -364,18 +364,6 @@ rcl_parse_arguments(
rcl_get_error_string().str); rcl_get_error_string().str);
rcl_reset_error(); 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 // Attempt to parse argument as log level configuration
int log_level; int log_level;
if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) { if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {

129
rcl/test/rcl/test_arguments.cpp
View file

@ -104,8 +104,9 @@ public:
} while (0) } while (0)
bool 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_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments( rcl_ret_t ret = rcl_parse_arguments(
argc, argv.data(), rcl_get_default_allocator(), &parsed_args); argc, argv.data(), rcl_get_default_allocator(), &parsed_args);
@ -117,74 +118,80 @@ are_valid_ros_args(int argc, std::vector<const char *> argv)
return is_valid; return is_valid;
} }
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) { TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unknown_args) {
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=node_name"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__node:=node_name"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "old_name:__node:=node_name"})); EXPECT_TRUE(are_known_ros_args({"--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_known_ros_args({"--ros-args", "-r", "old_name:__node:=nodename123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=nodename123"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__node:=nodename123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:=/foo/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__ns:=/foo/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "__ns:=/"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__ns:=/"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "_:=kq"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "_:=kq"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "nodename:__ns:=/foobar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "nodename:__ns:=/foobar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "foo:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "~/foo:=~/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "~/foo:=~/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "/foo/bar:=bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/foo/bar:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:=/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "foo:=/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "/foo123:=/bar123"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "node:/foo123:=/bar123"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "node:/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:=/foo/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:=/foo/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rosservice:=baz"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rosservice:=baz"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic://rostopic:=rosservice"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic://rostopic:=rosservice"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:///rosservice:=rostopic"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///rosservice:=rostopic"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic:///foo/bar:=baz"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///foo/bar:=baz"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:=bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "~/foo:=~/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "~/foo:=~/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "/foo/bar:=bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo/bar:=bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:=/bar"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=/bar"}));
EXPECT_TRUE(are_valid_ros_args(3, {"--ros-args", "-p", "/foo123:=/bar123"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__params:=file_name.yaml"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__params:=file_name.yaml"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", ":="})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "foo:="})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "--remap"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", ":=bar"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", ":="})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", "foo:="})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", ":=bar"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":=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_known_ros_args({"--ros-args", "-p"}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "__node:=/foo/bar"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "--param"}));
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_known_ros_args({"--ros-args", "-p", ":="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-p", "f oo:=/bar"})); 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_valid_ros_args(3, {"--ros-args", "-r", "rostopic://:=rosservice"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:="}));
EXPECT_FALSE(are_valid_ros_args(3, {"--ros-args", "-r", "rostopic::=rosservice"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__param:=file_name.yaml"})); 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 // Setting logger level
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=UNSET"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=UNSET"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=DEBUG"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=DEBUG"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=INFO"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=INFO"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=WARN"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=WARN"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=ERROR"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=ERROR"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=FATAL"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=FATAL"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=debug"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=debug"}));
EXPECT_TRUE(are_valid_ros_args(2, {"--ros-args", "__log_level:=Info"})); EXPECT_TRUE(are_known_ros_args({"--ros-args", "__log_level:=Info"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log:=foo"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log:=foo"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__loglevel:=foo"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "__loglevel:=foo"}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log_level:="})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:="}));
EXPECT_FALSE(are_valid_ros_args(2, {"--ros-args", "__log_level:=foo"})); EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:=foo"}));
} }
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) { TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {

78
rcl/test/rcl/test_remap.cpp
View file

@ -42,7 +42,7 @@ public:
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replacement) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replacement) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "__ns:=/foo/bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__ns:=/foo/bar");
char * output = NULL; char * output = NULL;
ret = rcl_remap_node_namespace( ret = rcl_remap_node_namespace(
@ -59,9 +59,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"Node1:__ns:=/foo/bar", "-r", "Node1:__ns:=/foo/bar",
"Node2:__ns:=/this_one", "-r", "Node2:__ns:=/this_one",
"Node3:__ns:=/bar/foo"); "-r", "Node3:__ns:=/bar/foo");
{ {
char * output = NULL; char * output = NULL;
@ -104,9 +104,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_namespace_replacement
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacement_before_global) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacement_before_global) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "__ns:=/global_args"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__ns:=/global_args");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "__ns:=/local_args"); SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "-r", "__ns:=/local_args");
char * output = NULL; char * output = NULL;
ret = rcl_remap_node_namespace( ret = rcl_remap_node_namespace(
@ -135,9 +135,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_names
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"/foobar:=/foo/bar", "-r", "/foobar:=/foo/bar",
"__ns:=/namespace", "-r", "__ns:=/namespace",
"__node:=new_name"); "-r", "__node:=new_name");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -150,7 +150,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_names
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replacement) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replacement) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/bar");
{ {
char * output = NULL; char * output = NULL;
@ -172,7 +172,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replac
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_topic_name_remap) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_topic_name_remap) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "foo:=bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "foo:=bar");
char * output = NULL; char * output = NULL;
ret = rcl_remap_topic_name( ret = rcl_remap_topic_name(
@ -189,9 +189,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_topic_re
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"Node1:/foo:=/foo/bar", "-r", "Node1:/foo:=/foo/bar",
"Node2:/foo:=/this_one", "-r", "Node2:/foo:=/this_one",
"Node3:/foo:=/bar/foo"); "-r", "Node3:/foo:=/bar/foo");
{ {
char * output = NULL; char * output = NULL;
@ -246,9 +246,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_topic_name_replacemen
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_topic_replacement_before_global) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_topic_replacement_before_global) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/global_args"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/global_args");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/local_args"); SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/local_args");
char * output = NULL; char * output = NULL;
ret = rcl_remap_topic_name( ret = rcl_remap_topic_name(
@ -266,9 +266,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_topic
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__ns:=/namespace", "-r", "__ns:=/namespace",
"__node:=remap_name", "-r", "__node:=remap_name",
"/foobar:=/foo/bar"); "-r", "/foobar:=/foo/bar");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -282,7 +282,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_topic
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_service_name_replacement) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_service_name_replacement) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/bar");
{ {
char * output = NULL; char * output = NULL;
@ -304,7 +304,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_service_name_repl
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_service_name_remap) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_service_name_remap) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "foo:=bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "foo:=bar");
char * output = NULL; char * output = NULL;
ret = rcl_remap_service_name( ret = rcl_remap_service_name(
@ -321,9 +321,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_service_
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"Node1:/foo:=/foo/bar", "-r", "Node1:/foo:=/foo/bar",
"Node2:/foo:=/this_one", "-r", "Node2:/foo:=/this_one",
"Node3:/foo:=/bar/foo"); "-r", "Node3:/foo:=/bar/foo");
{ {
char * output = NULL; char * output = NULL;
@ -379,9 +379,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_service_name_replacem
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_service_replacement_before_global) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_service_replacement_before_global) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/global_args"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/global_args");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "/bar/foo:=/foo/local_args"); SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/local_args");
char * output = NULL; char * output = NULL;
ret = rcl_remap_service_name( ret = rcl_remap_service_name(
@ -399,9 +399,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_servi
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__ns:=/namespace", "-r", "__ns:=/namespace",
"__node:=remap_name", "-r", "__node:=remap_name",
"/foobar:=/foo/bar"); "-r", "/foobar:=/foo/bar");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -415,7 +415,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_servi
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacement) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacement) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "__node:=globalname"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__node:=globalname");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -440,9 +440,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement)
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replacement_before_global) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replacement_before_global) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "__node:=global_name"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__node:=global_name");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "__node:=local_name"); SCOPE_ARGS(local_arguments, "process_name", "--ros-args", "-r", "__node:=local_name");
char * output = NULL; char * output = NULL;
ret = rcl_remap_node_name( ret = rcl_remap_node_name(
@ -471,8 +471,8 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), use_first_nodename_rule)
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__node:=firstname", "-r", "__node:=firstname",
"__node:=secondname"); "-r", "__node:=secondname");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -489,9 +489,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_noden
global_arguments, global_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"/foobar:=/foo", "-r", "/foobar:=/foo",
"__ns:=/namespace", "-r", "__ns:=/namespace",
"__node:=remap_name"); "-r", "__node:=remap_name");
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL; char * output = NULL;
@ -504,7 +504,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_noden
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rosservice) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rosservice) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "rosservice://foo:=bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "rosservice://foo:=bar");
char * output = NULL; char * output = NULL;
ret = rcl_remap_service_name( ret = rcl_remap_service_name(
@ -522,7 +522,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rosservice) {
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rostopic) { TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rostopic) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_arguments_t global_arguments; rcl_arguments_t global_arguments;
SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "rostopic://foo:=bar"); SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "rostopic://foo:=bar");
char * output = NULL; char * output = NULL;
ret = rcl_remap_topic_name( ret = rcl_remap_topic_name(

28
rcl/test/rcl/test_remap_integration.cpp
View file

@ -49,9 +49,9 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
argc, argv, argc, argv,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__node:=new_name", "-r", "__node:=new_name",
"__ns:=/new_ns", "-r", "__ns:=/new_ns",
"/foo/bar:=/bar/foo"); "-r", "/foo/bar:=/bar/foo");
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t default_options = rcl_node_get_default_options(); rcl_node_options_t default_options = rcl_node_get_default_options();
@ -120,9 +120,9 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
argc, argv, argc, argv,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__node:=new_name", "-r", "__node:=new_name",
"__ns:=/new_ns", "-r", "__ns:=/new_ns",
"/foo/bar:=/bar/foo"); "-r", "/foo/bar:=/bar/foo");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS(local_arguments, "local_process_name"); SCOPE_ARGS(local_arguments, "local_process_name");
@ -193,17 +193,17 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
argc, argv, argc, argv,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__node:=global_name", "-r", "__node:=global_name",
"__ns:=/global_ns", "-r", "__ns:=/global_ns",
"/foo/bar:=/bar/global"); "-r", "/foo/bar:=/bar/global");
rcl_arguments_t local_arguments; rcl_arguments_t local_arguments;
SCOPE_ARGS( SCOPE_ARGS(
local_arguments, local_arguments,
"process_name", "process_name",
"--ros-args", "--ros-args",
"__node:=local_name", "-r", "__node:=local_name",
"__ns:=/local_ns", "-r", "__ns:=/local_ns",
"/foo/bar:=/bar/local"); "-r", "/foo/bar:=/bar/local");
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t options = rcl_node_get_default_options(); rcl_node_options_t options = rcl_node_get_default_options();
@ -267,7 +267,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relative_topic) { TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relative_topic) {
int argc; int argc;
char ** argv; char ** argv;
SCOPE_GLOBAL_ARGS(argc, argv, "process_name", "--ros-args", "/foo/bar:=remap/global"); SCOPE_GLOBAL_ARGS(argc, argv, "process_name", "--ros-args", "-r", "/foo/bar:=remap/global");
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t default_options = rcl_node_get_default_options(); rcl_node_options_t default_options = rcl_node_get_default_options();
@ -322,7 +322,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_n
int argc; int argc;
char ** argv; char ** argv;
SCOPE_GLOBAL_ARGS( SCOPE_GLOBAL_ARGS(
argc, argv, "process_name", "--ros-args", "original_name:__ns:=/new_ns"); argc, argv, "process_name", "--ros-args", "-r", "original_name:__ns:=/new_ns");
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t default_options = rcl_node_get_default_options(); rcl_node_options_t default_options = rcl_node_get_default_options();