Fail fast on invalid ROS arguments (#493)
* Fail fast on invalid ROS arguments. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Address peer review comments. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Fix warning on Windows. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo
GitHub
parent
2740a436f6
commit
40a276b6f4
4 changed files with 91 additions and 47 deletions
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@ -80,6 +80,9 @@ rcl_get_zero_initialized_arguments(void);
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* `warn`, not case sensitive.
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* If multiple of these rules are found, the last one parsed will be used.
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*
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* If an argument does not appear to be a valid ROS argument e.g. a `-r/--remap` flag followed by
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* anything but a valid remap rule, parsing will fail immediately.
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*
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* If an argument does not appear to be a known ROS argument, then it is skipped and left unparsed.
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*
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* \sa rcl_arguments_get_count_unparsed_ros()
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@ -104,6 +107,7 @@ rcl_get_zero_initialized_arguments(void);
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* \param[out] args_output A structure that will contain the result of parsing.
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* Must be zero initialized before use.
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* \return `RCL_RET_OK` if the arguments were parsed successfully, or
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* \return `RCL_RET_INVALID_ROS_ARGS` if an invalid ROS argument is found, 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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@ -190,9 +194,9 @@ int
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rcl_arguments_get_count_unparsed_ros(
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const rcl_arguments_t * args);
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/// Return a list of indices to ROS specific arguments that were not successfully parsed.
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/// Return a list of indices to unknown ROS specific arguments that were left unparsed.
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/**
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* Some ROS specific arguments may not have been successfully parsed, or were not intended to be
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* Some ROS specific arguments may not have been recognized, or were not intended to be
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* parsed by rcl.
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* This function populates an array of indices to these arguments in the original argv array.
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*
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@ -96,6 +96,8 @@ typedef rmw_ret_t rcl_ret_t;
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#define RCL_RET_INVALID_REMAP_RULE 1001
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/// Expected one type of lexeme but got another
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#define RCL_RET_WRONG_LEXEME 1002
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/// Found invalid ros argument while parsing
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#define RCL_RET_INVALID_ROS_ARGS 1003
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/// Argument is not a valid parameter rule
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#define RCL_RET_INVALID_PARAM_RULE 1010
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/// Argument is not a valid log level rule
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@ -310,18 +310,22 @@ rcl_parse_arguments(
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "param override rule : %s\n", argv[i + 1]);
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i += 1; // Skip flag here, for loop will skip rule.
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continue;
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} else {
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
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"Couldn't parse arg %d (%s) as parameter override rule. Error: %s", i + 1,
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argv[i + 1], rcl_get_error_string().str);
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}
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} else {
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
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"Couldn't parse arg %d (%s) as parameter override flag. No rule found.\n",
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i, argv[i]);
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}
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rcl_error_string_t prev_error_string = rcl_get_error_string();
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rcl_reset_error();
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RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Couldn't parse parameter override rule: '%s %s'. Error: %s", argv[i], argv[i + 1],
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prev_error_string.str);
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} else {
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RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Couldn't parse trailing parameter override rule: '%s'. No rule found.", argv[i]);
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}
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ret = RCL_RET_INVALID_ROS_ARGS;
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goto fail;
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}
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
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"Couldn't parse arg %d (%s) as parameter override rule. Not a '%s' or '%s' flag.", i,
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argv[i], RCL_PARAM_FLAG, RCL_SHORT_PARAM_FLAG);
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// Attempt to parse argument as remap rule flag
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if (strcmp(RCL_REMAP_FLAG, argv[i]) == 0 || strcmp(RCL_SHORT_REMAP_FLAG, argv[i]) == 0) {
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@ -335,16 +339,21 @@ rcl_parse_arguments(
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i += 1; // Skip flag here, for loop will skip rule.
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continue;
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}
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
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"Couldn't parse arg %d (%s) as remap rule. Error: %s", i + 1, argv[i + 1],
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rcl_get_error_string().str);
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rcl_error_string_t prev_error_string = rcl_get_error_string();
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rcl_reset_error();
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RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Couldn't parse remap rule: '%s %s'. Error: %s", argv[i], argv[i + 1],
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prev_error_string.str);
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} else {
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RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
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"Couldn't parse trailing remap rule: '%s'. No rule found.", argv[i]);
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}
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ret = RCL_RET_INVALID_ROS_ARGS;
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goto fail;
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}
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RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
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"Couldn't parse arg %d (%s) as remap rule flag. No rule found.\n",
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i, argv[i]);
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}
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}
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"Couldn't parse arg %d (%s) as remap rule. Not a '%s' or '%s' flag.", i,
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argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);
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// Attempt to parse argument as parameter file rule
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args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
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@ -145,37 +145,11 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
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EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
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EXPECT_TRUE(are_known_ros_args({"--ros-args", "__params:=file_name.yaml"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "--remap"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":=bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "--param"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", ":="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "foo:="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", ":=bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__ns:="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:="}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__ns:=foo"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":__node:=nodename"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "~:__node:=nodename"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "}foo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "f oo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:=/b ar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "f{oo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:=/b}ar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "}foo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "f oo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "rostopic://:=rosservice"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "rostopic::=rosservice"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "--custom-ros-arg"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "__node:=node_name"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "old_name:__node:=node_name"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "/foo/bar:=bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "foo:=/bar"}));
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "__param:=file_name.yaml"}));
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// Setting logger level
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@ -194,6 +168,61 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
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EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:=foo"}));
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}
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bool
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are_valid_ros_args(std::vector<const char *> argv)
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{
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const int argc = static_cast<int>(argv.size());
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rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
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rcl_ret_t ret = rcl_parse_arguments(
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argc, argv.data(), rcl_get_default_allocator(), &parsed_args);
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if (RCL_RET_OK != ret) {
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EXPECT_EQ(ret, RCL_RET_INVALID_ROS_ARGS) << rcl_get_error_string().str;
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rcl_reset_error();
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return false;
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}
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EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
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return true;
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}
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TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
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EXPECT_TRUE(are_valid_ros_args({"--ros-args", "-p", "foo:=bar", "-r", "__node:=node_name"}));
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// ROS args unknown to rcl are not (necessarily) invalid
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EXPECT_TRUE(are_valid_ros_args({"--ros-args", "--custom-ros-arg"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--remap"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":=bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--param"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "foo:="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":=bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:="}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:=foo"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":__node:=nodename"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "~:__node:=nodename"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "}foo:=/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f oo:=/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b ar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f{oo:=/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b}ar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "}foo:=/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "f oo:=/bar"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic://:=rosservice"}));
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EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic::=rosservice"}));
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}
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TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
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rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
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rcl_ret_t ret = rcl_parse_arguments(0, NULL, rcl_get_default_allocator(), &parsed_args);
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