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Support CLI parameter overrides using dots instead of slashes. (#530)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-10-24 13:02:46 -03:00 • committed by GitHub
parent 3d3b77c1fd
commit 513a185d1b
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 94 additions and 7 deletions
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6
rcl/include/rcl/lexer.h
View file

@ -73,7 +73,11 @@ typedef enum rcl_lexeme_t
/// *
RCL_LEXEME_WILD_ONE = 20,
/// **
RCL_LEXEME_WILD_MULTI = 21
RCL_LEXEME_WILD_MULTI = 21,
// TODO(hidmic): remove when parameter names are standardized to
// use slashes in lieu of dots
/// .
RCL_LEXEME_DOT = 22,
} rcl_lexeme_t;

68
rcl/src/rcl/arguments.c
View file

@ -1351,6 +1351,70 @@ _rcl_parse_resource_match(
return RCL_RET_OK;
}
/// Parse a parameter name in a parameter override rule (ex: `foo.bar`)
/**
* \sa _rcl_parse_param_rule()
*/
// TODO(hidmic): remove when parameter names are standardized to use slashes
// in lieu of dots.
RCL_LOCAL
rcl_ret_t
_rcl_parse_param_name(
rcl_lexer_lookahead2_t * lex_lookahead,
rcl_allocator_t allocator,
char ** param_name)
{
rcl_ret_t ret;
rcl_lexeme_t lexeme;
// Check arguments sanity
assert(NULL != lex_lookahead);
assert(rcutils_allocator_is_valid(&allocator));
assert(NULL != param_name);
assert(NULL == *param_name);
const char * name_start = rcl_lexer_lookahead2_get_text(lex_lookahead);
if (NULL == name_start) {
RCL_SET_ERROR_MSG("failed to get start of param name");
return RCL_RET_ERROR;
}
// token ( '.' token )*
ret = _rcl_parse_resource_match_token(lex_lookahead);
if (RCL_RET_OK != ret) {
return ret;
}
ret = rcl_lexer_lookahead2_peek(lex_lookahead, &lexeme);
if (RCL_RET_OK != ret) {
return ret;
}
while (RCL_LEXEME_SEPARATOR != lexeme) {
ret = rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_DOT, NULL, NULL);
if (RCL_RET_WRONG_LEXEME == ret) {
return RCL_RET_INVALID_REMAP_RULE;
}
ret = _rcl_parse_resource_match_token(lex_lookahead);
if (RCL_RET_OK != ret) {
return ret;
}
ret = rcl_lexer_lookahead2_peek(lex_lookahead, &lexeme);
if (RCL_RET_OK != ret) {
return ret;
}
}
// Copy param name
const char * name_end = rcl_lexer_lookahead2_get_text(lex_lookahead);
const size_t length = (size_t)(name_end - name_start);
*param_name = rcutils_strndup(name_start, length, allocator);
if (NULL == *param_name) {
RCL_SET_ERROR_MSG("failed to copy param name");
return RCL_RET_BAD_ALLOC;
}
return RCL_RET_OK;
}
/// Parse the match side of a name remapping rule (ex: `rostopic://foo`)
/**
@ -1796,7 +1860,9 @@ _rcl_parse_param_rule(
}
}
ret = _rcl_parse_resource_match(&lex_lookahead, params->allocator, &param_name);
// TODO(hidmic): switch to _rcl_parse_resource_match() when parameter names
// are standardized to use slashes in lieu of dots.
ret = _rcl_parse_param_name(&lex_lookahead, params->allocator, &param_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_WRONG_LEXEME == ret) {
ret = RCL_RET_INVALID_PARAM_RULE;

8
rcl/src/rcl/lexer.c
View file

@ -57,8 +57,10 @@ digraph remapping_lexer {
T_WILD_MULTI
T_EOF
T_NONE
T_DOT
node [shape = circle];
S0 -> T_FORWARD_SLASH [ label = "/"];
S0 -> T_DOT [ label = "."];
S0 -> S1 [ label = "\\"];
S0 -> S2 [ label = "~"];
S0 -> S3 [ label = "_" ];
@ -155,7 +157,7 @@ typedef struct rcl_lexer_state_t
/// Movement associated with taking else state
const unsigned char else_movement;
/// Transitions in the state machine (NULL value at end of array)
const rcl_lexer_transition_t transitions[11];
const rcl_lexer_transition_t transitions[12];
} rcl_lexer_state_t;
#define S0 0u
@ -213,6 +215,7 @@ typedef struct rcl_lexer_state_t
#define T_WILD_MULTI 50u
#define T_EOF 51u
#define T_NONE 52u
#define T_DOT 53u
// used to figure out if a state is terminal or not
#define FIRST_TERMINAL T_TILDE_SLASH
@ -229,6 +232,7 @@ static const rcl_lexer_state_t g_states[LAST_STATE + 1] =
0u,
{
{T_FORWARD_SLASH, '/', '/'},
{T_DOT, '.', '.'},
{S1, '\\', '\\'},
{S2, '~', '~'},
{S3, '_', '_'},
@ -573,6 +577,8 @@ static const rcl_lexeme_t g_terminals[LAST_TERMINAL + 1] = {
RCL_LEXEME_EOF,
// 21
RCL_LEXEME_NONE,
// 22
RCL_LEXEME_DOT
};
rcl_ret_t

19
rcl/test/rcl/test_arguments.cpp
View file

@ -144,10 +144,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///rosservice:=rostopic"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///foo/bar:=baz"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "~/foo:=~/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo/bar:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=/bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
// TODO(hidmic): restore tests (and drop the following ones) when parameter names
// are standardized to use slashes in lieu of dots.
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "~/foo:=~/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo/bar:=bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo.bar:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "node:foo:=bar"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "fizz123:=buzz456"}));
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
EXPECT_TRUE(are_known_ros_args({"--ros-args", "--params-file", parameters_filepath.c_str()}));
@ -998,6 +1003,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides
"process_name", "--ros-args",
"--params-file", parameters_filepath.c_str(),
"--param", "string_param:=bar",
"-p", "some.bool_param:=false",
"-p", "some_node:int_param:=4"
};
int argc = sizeof(argv) / sizeof(const char *);
@ -1025,6 +1031,11 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides
ASSERT_TRUE(NULL != param_value->string_value);
EXPECT_STREQ("bar", param_value->string_value);
param_value = rcl_yaml_node_struct_get("/**", "some.bool_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->bool_value);
EXPECT_FALSE(*(param_value->bool_value));
param_value = rcl_yaml_node_struct_get("some_node", "int_param", params);
ASSERT_TRUE(NULL != param_value);
ASSERT_TRUE(NULL != param_value->integer_value);