Add CLI args to Node constructor (#461)

* Add CLI args to Node constructor

Adds arguments and use_global_arguments to NodeBase

* Check for integer overflow

rclcpp/CMakeLists.txt

@@ -191,6 +191,16 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_node_global_args test/test_node_global_args.cpp)
+  if(TARGET test_node_global_args)
+    target_include_directories(test_node_global_args PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_node_global_args ${PROJECT_NAME})
+  endif()
   ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
   if(TARGET test_parameter_events_filter)
     target_include_directories(test_parameter_events_filter PUBLIC

rclcpp/include/rclcpp/node.hpp

@@ -84,6 +84,9 @@ public:
    * \param[in] node_name Name of the node.
    * \param[in] namespace_ Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
+   * \param[in] arguments Command line arguments that should apply only to this node.
+   * This can be used to provide remapping rules that only affect one instance.
+   * \param[in] use_global_arguments False to prevent node using arguments passed to the process.
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
@@ -92,6 +95,8 @@ public:
     const std::string & node_name,
     const std::string & namespace_,
     rclcpp::Context::SharedPtr context,
+    const std::vector<std::string> & arguments,
+    bool use_global_arguments = true,
     bool use_intra_process_comms = false);
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -39,7 +39,9 @@ public:
   NodeBase(
     const std::string & node_name,
     const std::string & namespace_,
-    rclcpp::Context::SharedPtr context);
+    rclcpp::Context::SharedPtr context,
+    const std::vector<std::string> & arguments,
+    bool use_global_arguments);
 
   RCLCPP_PUBLIC
   virtual

rclcpp/src/rclcpp/node.cpp

@@ -43,6 +43,8 @@ Node::Node(
     node_name,
     namespace_,
     rclcpp::contexts::default_context::get_global_default_context(),
+    {},
+    true,
     use_intra_process_comms)
 {}
 
@@ -50,8 +52,11 @@ Node::Node(
   const std::string & node_name,
   const std::string & namespace_,
   rclcpp::Context::SharedPtr context,
+  const std::vector<std::string> & arguments,
+  bool use_global_arguments,
   bool use_intra_process_comms)
-: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
+: node_base_(new rclcpp::node_interfaces::NodeBase(
+      node_name, namespace_, context, arguments, use_global_arguments)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/node_interfaces/node_base.hpp"
 
+#include "rcl/arguments.h"
 #include "rclcpp/exceptions.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/validate_node_name.h"
@@ -31,7 +32,9 @@ using rclcpp::node_interfaces::NodeBase;
 NodeBase::NodeBase(
   const std::string & node_name,
   const std::string & namespace_,
-  rclcpp::Context::SharedPtr context)
+  rclcpp::Context::SharedPtr context,
+  const std::vector<std::string> & arguments,
+  bool use_global_arguments)
 : context_(context),
   node_handle_(nullptr),
   default_callback_group_(nullptr),
@@ -84,18 +87,37 @@ NodeBase::NodeBase(
   }
 
   // Create the rcl node and store it in a shared_ptr with a custom destructor.
-  rcl_node_t * rcl_node = new rcl_node_t(rcl_get_zero_initialized_node());
+  std::unique_ptr<rcl_node_t> rcl_node(new rcl_node_t(rcl_get_zero_initialized_node()));
 
   rcl_node_options_t options = rcl_node_get_default_options();
+  std::unique_ptr<const char *[]> c_args;
+  if (!arguments.empty()) {
+    c_args.reset(new const char *[arguments.size()]);
+    for (std::size_t i = 0; i < arguments.size(); ++i) {
+      c_args[i] = arguments[i].c_str();
+    }
+  }
+  // TODO(sloretz) Pass an allocator to argument parsing
+  if (arguments.size() > std::numeric_limits<int>::max()) {
+    throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
+  }
+  ret = rcl_parse_arguments(
+    static_cast<int>(arguments.size()), c_args.get(), rcl_get_default_allocator(),
+    &(options.arguments));
+  if (RCL_RET_OK != ret) {
+    finalize_notify_guard_condition();
+    throw_from_rcl_error(ret, "failed to parse arguments");
+  }
+
+  options.use_global_arguments = use_global_arguments;
   // TODO(wjwwood): pass the Allocator to the options
   options.domain_id = domain_id;
-  ret = rcl_node_init(rcl_node, node_name.c_str(), namespace_.c_str(), &options);
+
+  ret = rcl_node_init(rcl_node.get(), node_name.c_str(), namespace_.c_str(), &options);
   if (ret != RCL_RET_OK) {
     // Finalize the interrupt guard condition.
     finalize_notify_guard_condition();
 
-    delete rcl_node;
-
     if (ret == RCL_RET_NODE_INVALID_NAME) {
       rcl_reset_error();  // discard rcl_node_init error
       int validation_result;
@@ -145,7 +167,7 @@ NodeBase::NodeBase(
   }
 
   node_handle_.reset(
-    rcl_node,
+    rcl_node.release(),
     [](rcl_node_t * node) -> void {
       if (rcl_node_fini(node) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(

rclcpp/test/test_node.cpp

@@ -16,6 +16,7 @@
 
 #include <string>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/node.hpp"

rclcpp/test/test_node_global_args.cpp

@@ -0,0 +1,62 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestNodeWithGlobalArgs : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    const char * const args[] = {"proc", "__node:=global_node_name"};
+    rclcpp::init(2, args);
+  }
+};
+
+TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
+  auto context = rclcpp::contexts::default_context::get_global_default_context();
+  const std::vector<std::string> arguments = {"__node:=local_arguments_test"};
+  const bool use_global_arguments = true;
+  const bool use_intra_process = false;
+  auto node = rclcpp::Node::make_shared(
+    "orig_name", "", context, arguments, use_global_arguments, use_intra_process);
+  EXPECT_STREQ("local_arguments_test", node->get_name());
+}
+
+TEST_F(TestNodeWithGlobalArgs, use_or_ignore_global_arguments) {
+  auto context = rclcpp::contexts::default_context::get_global_default_context();
+  const std::vector<std::string> arguments = {};
+  const bool use_intra_process = false;
+
+  {  // Don't use global args
+    const bool use_global_arguments = false;
+    auto node = rclcpp::Node::make_shared(
+      "orig_name", "", context, arguments, use_global_arguments, use_intra_process);
+    EXPECT_STREQ("orig_name", node->get_name());
+  }
+  {  // Do use global args
+    const bool use_global_arguments = true;
+    auto node = rclcpp::Node::make_shared(
+      "orig_name", "", context, arguments, use_global_arguments, use_intra_process);
+    EXPECT_STREQ("global_node_name", node->get_name());
+  }
+}

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -88,6 +88,9 @@ public:
    * \param[in] node_name Name of the node.
    * \param[in] node_name Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
+   * \param[in] arguments Command line arguments that should apply only to this node.
+   * This can be used to provide remapping rules that only affect one instance.
+   * \param[in] use_global_arguments False to prevent node using arguments passed to the process.
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
@@ -96,6 +99,8 @@ public:
     const std::string & node_name,
     const std::string & namespace_,
     rclcpp::Context::SharedPtr context,
+    const std::vector<std::string> & arguments,
+    bool use_global_arguments = true,
     bool use_intra_process_comms = false);
 
   RCLCPP_LIFECYCLE_PUBLIC

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -49,6 +49,8 @@ LifecycleNode::LifecycleNode(
     node_name,
     namespace_,
     rclcpp::contexts::default_context::get_global_default_context(),
+    {},
+    true,
     use_intra_process_comms)
 {}
 
@@ -56,8 +58,11 @@ LifecycleNode::LifecycleNode(
   const std::string & node_name,
   const std::string & namespace_,
   rclcpp::Context::SharedPtr context,
+  const std::vector<std::string> & arguments,
+  bool use_global_arguments,
   bool use_intra_process_comms)
-: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
+: node_base_(new rclcpp::node_interfaces::NodeBase(
+      node_name, namespace_, context, arguments, use_global_arguments)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),