Fail on invalid and unknown ROS specific arguments (#842)

* Fail on invalid and unknown ROS specific arguments.

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

* Revert changes to utilities.hpp in rclcpp

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

* Fully revert change to utilities.hpp

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-09-06 11:35:36 -07:00 committed by GitHub
parent 1fff8cbac1
commit 458967bb56
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
6 changed files with 86 additions and 1 deletions

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@ -7,6 +7,7 @@ find_package(builtin_interfaces REQUIRED)
find_package(rcl REQUIRED) find_package(rcl REQUIRED)
find_package(rcl_interfaces REQUIRED) find_package(rcl_interfaces REQUIRED)
find_package(rcl_yaml_param_parser REQUIRED) find_package(rcl_yaml_param_parser REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rmw REQUIRED) find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED) find_package(rmw_implementation REQUIRED)
find_package(rosgraph_msgs REQUIRED) find_package(rosgraph_msgs REQUIRED)
@ -106,6 +107,7 @@ add_library(${PROJECT_NAME}
ament_target_dependencies(${PROJECT_NAME} ament_target_dependencies(${PROJECT_NAME}
"rcl" "rcl"
"rcl_yaml_param_parser" "rcl_yaml_param_parser"
"rcpputils"
"builtin_interfaces" "builtin_interfaces"
"rosgraph_msgs" "rosgraph_msgs"
"rosidl_typesupport_cpp" "rosidl_typesupport_cpp"
@ -129,6 +131,7 @@ ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(ament_cmake) ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl) ament_export_dependencies(rcl)
ament_export_dependencies(rcpputils)
ament_export_dependencies(builtin_interfaces) ament_export_dependencies(builtin_interfaces)
ament_export_dependencies(rosgraph_msgs) ament_export_dependencies(rosgraph_msgs)
ament_export_dependencies(rosidl_typesupport_cpp) ament_export_dependencies(rosidl_typesupport_cpp)

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@ -17,11 +17,14 @@
#include <stdexcept> #include <stdexcept>
#include <string> #include <string>
#include <vector>
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcl/types.h" #include "rcl/types.h"
#include "rclcpp/visibility_control.hpp" #include "rclcpp/visibility_control.hpp"
#include "rcpputils/join.hpp"
namespace rclcpp namespace rclcpp
{ {
namespace exceptions namespace exceptions
@ -167,6 +170,31 @@ public:
RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix); RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
}; };
/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
{
public:
RCLCPP_PUBLIC
RCLInvalidROSArgsError(
rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
RCLCPP_PUBLIC
RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
};
/// Thrown when unparsed ROS specific arguments are found.
class UnknownROSArgsError : public std::runtime_error
{
public:
explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
: std::runtime_error(
"found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
unknown_ros_args(unknown_ros_args_in)
{
}
const std::vector<std::string> unknown_ros_args;
};
/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered. /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
class InvalidEventError : public std::runtime_error class InvalidEventError : public std::runtime_error
{ {

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@ -26,6 +26,7 @@
<depend>rcl</depend> <depend>rcl</depend>
<depend>rcl_yaml_param_parser</depend> <depend>rcl_yaml_param_parser</depend>
<depend>rcpputils</depend>
<depend>rmw_implementation</depend> <depend>rmw_implementation</depend>
<exec_depend>ament_cmake</exec_depend> <exec_depend>ament_cmake</exec_depend>

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@ -17,6 +17,7 @@
#include <cstdio> #include <cstdio>
#include <functional> #include <functional>
#include <string> #include <string>
#include <vector>
using namespace std::string_literals; using namespace std::string_literals;
@ -68,6 +69,8 @@ from_rcl_error(
return std::make_exception_ptr(RCLBadAlloc(base_exc)); return std::make_exception_ptr(RCLBadAlloc(base_exc));
case RCL_RET_INVALID_ARGUMENT: case RCL_RET_INVALID_ARGUMENT:
return std::make_exception_ptr(RCLInvalidArgument(base_exc, formatted_prefix)); return std::make_exception_ptr(RCLInvalidArgument(base_exc, formatted_prefix));
case RCL_RET_INVALID_ROS_ARGS:
return std::make_exception_ptr(RCLInvalidROSArgsError(base_exc, formatted_prefix));
default: default:
return std::make_exception_ptr(RCLError(base_exc, formatted_prefix)); return std::make_exception_ptr(RCLError(base_exc, formatted_prefix));
} }
@ -126,5 +129,18 @@ RCLInvalidArgument::RCLInvalidArgument(
: RCLErrorBase(base_exc), std::invalid_argument(prefix + base_exc.formatted_message) : RCLErrorBase(base_exc), std::invalid_argument(prefix + base_exc.formatted_message)
{} {}
RCLInvalidROSArgsError::RCLInvalidROSArgsError(
rcl_ret_t ret,
const rcl_error_state_t * error_state,
const std::string & prefix)
: RCLInvalidROSArgsError(RCLErrorBase(ret, error_state), prefix)
{}
RCLInvalidROSArgsError::RCLInvalidROSArgsError(
const RCLErrorBase & base_exc,
const std::string & prefix)
: RCLErrorBase(base_exc), std::runtime_error(prefix + base_exc.formatted_message)
{}
} // namespace exceptions } // namespace exceptions
} // namespace rclcpp } // namespace rclcpp

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@ -18,6 +18,7 @@
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
#include <utility>
#include "rclcpp/exceptions.hpp" #include "rclcpp/exceptions.hpp"
#include "rclcpp/logging.hpp" #include "rclcpp/logging.hpp"
@ -105,12 +106,33 @@ NodeOptions::get_rcl_node_options() const
} }
} }
rmw_ret_t ret = rcl_parse_arguments( rcl_ret_t ret = rcl_parse_arguments(
c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments)); c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments));
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to parse arguments"); throw_from_rcl_error(ret, "failed to parse arguments");
} }
int unparsed_ros_args_count =
rcl_arguments_get_count_unparsed_ros(&(node_options_->arguments));
if (unparsed_ros_args_count > 0) {
int * unparsed_ros_args_indices = nullptr;
ret = rcl_arguments_get_unparsed_ros(
&(node_options_->arguments), this->allocator_, &unparsed_ros_args_indices);
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to get unparsed ROS arguments");
}
try {
std::vector<std::string> unparsed_ros_args;
for (int i = 0; i < unparsed_ros_args_count; ++i) {
unparsed_ros_args.push_back(c_argv[unparsed_ros_args_indices[i]]);
}
throw exceptions::UnknownROSArgsError(std::move(unparsed_ros_args));
} catch (...) {
this->allocator_.deallocate(unparsed_ros_args_indices, this->allocator_.state);
throw;
}
}
} }
return node_options_.get(); return node_options_.get();

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@ -83,3 +83,18 @@ TEST(TestNodeOptions, ros_args_and_non_ros_args) {
EXPECT_EQ("non-ros-arg", args[output_indices[1]]); EXPECT_EQ("non-ros-arg", args[output_indices[1]]);
allocator.deallocate(output_indices, allocator.state); allocator.deallocate(output_indices, allocator.state);
} }
TEST(TestNodeOptions, bad_ros_args) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::NodeOptions(allocator)
.arguments({"--ros-args", "-r", "foo:="});
EXPECT_THROW(
options.get_rcl_node_options(),
rclcpp::exceptions::RCLInvalidROSArgsError);
options.arguments({"--ros-args", "-r", "foo:=bar", "not-a-ros-arg"});
EXPECT_THROW(
options.get_rcl_node_options(),
rclcpp::exceptions::UnknownROSArgsError);
}