#include "rcl/arguments.h"
#include <string.h>
#include "./arguments_impl.h"
#include "./remap_impl.h"
#include "rcl/error_handling.h"
#include "rcl/lexer_lookahead.h"
#include "rcl/validate_topic_name.h"
#include "rcutils/allocator.h"
#include "rcutils/error_handling.h"
#include "rcutils/format_string.h"
#include "rcutils/logging.h"
#include "rcutils/logging_macros.h"
#include "rcutils/strdup.h"
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"

Include dependency graph for arguments.c:

Functions
RCL_LOCAL rcl_ret_t	_rcl_parse_remap_rule (const char arg, rcl_allocator_t allocator, rcl_remap_t output_rule)
	// Internal Doxygen documentation More...

RCL_LOCAL rcl_ret_t	_rcl_parse_param_file_rule (const char arg, rcl_allocator_t allocator, char *param_file)
	Parse an argument that may or may not be a parameter file rule. More...

rcl_ret_t	rcl_arguments_get_param_files (const rcl_arguments_t arguments, rcl_allocator_t allocator, char **parameter_files)
	Return a list of yaml parameter file paths specified on the command line. More...

int	rcl_arguments_get_param_files_count (const rcl_arguments_t *args)
	Return the number of parameter yaml files given in the arguments. More...

RCL_LOCAL rcl_ret_t	_rcl_parse_log_level_rule (const char arg, rcl_allocator_t allocator, int log_level)
	Parse an argument that may or may not be a log level rule. More...

RCL_LOCAL rcl_ret_t	_rcl_parse_external_log_config_file (const char arg, rcl_allocator_t allocator, char *log_config_file)
	Parse an argument that may or may not be a log file rule. More...

RCL_LOCAL rcl_ret_t	_rcl_parse_bool_arg (const char arg, const char key, bool *value)
	Parse a bool argument that may or may not be for the provided key rule. More...

RCL_LOCAL rcl_ret_t	_atob (const char str, bool val)
	Parse a null terminated string to a boolean value. More...

rcl_ret_t	rcl_parse_arguments (int argc, const char const argv[], rcl_allocator_t allocator, rcl_arguments_t args_output)
	Parse command line arguments into a structure usable by code. More...

int	rcl_arguments_get_count_unparsed (const rcl_arguments_t *args)
	Return the number of arguments that were not successfully parsed. More...

rcl_ret_t	rcl_arguments_get_unparsed (const rcl_arguments_t args, rcl_allocator_t allocator, int *output_unparsed_indices)
	Return a list of indexes that weren't successfully parsed. More...

rcl_arguments_t	rcl_get_zero_initialized_arguments (void)
	Return a rcl_arguments_t struct with members initialized to `NULL`. More...

rcl_ret_t	rcl_remove_ros_arguments (char const const argv[], const rcl_arguments_t args, rcl_allocator_t allocator, int nonros_argc, const char *nonros_argv[])
	Return a list of arguments with ROS-specific arguments removed. More...

rcl_ret_t	rcl_arguments_copy (const rcl_arguments_t args, rcl_arguments_t args_out)
	Copy one arguments structure into another. More...

rcl_ret_t	rcl_arguments_fini (rcl_arguments_t *args)
	Reclaim resources held inside rcl_arguments_t structure. More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_fully_qualified_namespace (rcl_lexer_lookahead2_t *lex_lookahead)
	Parses a fully qualified namespace for a namespace replacement rule (ex: `/foo/bar`) More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_replacement_token (rcl_lexer_lookahead2_t *lex_lookahead)
	Parse either a token or a backreference (ex: `bar`, or `\7`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_replacement_name (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse the replacement side of a name remapping rule (ex: `bar/\1/foo`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_match_token (rcl_lexer_lookahead2_t *lex_lookahead)
	Parse either a token or a wildcard (ex: `foobar`, or ``, or `*`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_match_name (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse the match side of a name remapping rule (ex: `rostopic://foo`) More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_name_remap (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse a name remapping rule (ex: `rostopic:///foo:=bar`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_namespace_replacement (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse a namespace replacement rule (ex: `__ns:=/new/ns`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_nodename_replacement (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse a nodename replacement rule (ex: `__node:=new_name`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_nodename_prefix (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Parse a nodename prefix including trailing colon (ex: `node_name:`). More...

RCL_LOCAL rcl_ret_t	_rcl_parse_remap_begin_remap_rule (rcl_lexer_lookahead2_t lex_lookahead, rcl_remap_t rule)
	Start recursive descent parsing of a remap rule. More...

Function Documentation

◆ _rcl_parse_remap_rule()

rcl_ret_t _rcl_parse_remap_rule	(	const char *	arg,
		rcl_allocator_t	allocator,
		rcl_remap_t *	output_rule
	)

// Internal Doxygen documentation

Parse an argument that may or may not be a remap rule.

Parameters

[in]	arg	the argument to parse
[in]	allocator	an allocator to use
[in,out]	output_rule	input a zero intialized rule, output a fully initialized one

Returns: RCL_RET_OK if a valid rule was parsed, or; RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or; RCL_RET_BAD_ALLOC if an allocation failed, or; RLC_RET_ERROR if an unspecified error occurred.

◆ _rcl_parse_param_file_rule()

rcl_ret_t _rcl_parse_param_file_rule	(	const char *	arg,
		rcl_allocator_t	allocator,
		char **	param_file
	)

Parse an argument that may or may not be a parameter file rule.

The syntax of the file name is not validated.

Parameters

[in]	arg	the argument to parse
[in]	allocator	an allocator to use
[in,out]	param_file	string that could be a parameter file name

Returns: RCL_RET_OK if the rule was parsed correctly, or; RCL_RET_INVALID_PARAM_RULE if the argument is not a valid rule, or; RCL_RET_BAD_ALLOC if an allocation failed, or; RLC_RET_ERROR if an unspecified error occurred.

◆ rcl_arguments_get_param_files()

rcl_ret_t rcl_arguments_get_param_files	(	const rcl_arguments_t *	arguments,
		rcl_allocator_t	allocator,
		char ***	parameter_files
	)

Return a list of yaml parameter file paths specified on the command line.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	arguments	An arguments structure that has been parsed.
[in]	allocator	A valid allocator.
[out]	parameter_files	An allocated array of paramter file names. This array must be deallocated by the caller using the given allocator. The output is NULL if there were no paramter files.

Returns: RCL_RET_OK if everything goes correctly, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_arguments_get_param_files_count()

int rcl_arguments_get_param_files_count ( const rcl_arguments_t * args )

Return the number of parameter yaml files given in the arguments.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] args An arguments structure that has been parsed.

Returns: number of yaml files, or; -1 if args is NULL or zero initialized.

◆ _rcl_parse_log_level_rule()

rcl_ret_t _rcl_parse_log_level_rule	(	const char *	arg,
		rcl_allocator_t	allocator,
		int *	log_level
	)

Parse an argument that may or may not be a log level rule.

Parameters

[in]	arg	the argument to parse
[in]	allocator	an allocator to use
[in,out]	log_level	parsed log level represented by `RCUTILS_LOG_SEVERITY` enum

Returns: RCL_RET_OK if a valid log level was parsed, or; RCL_RET_INVALID_LOG_LEVEL_RULE if the argument is not a valid rule, or; RCL_RET_BAD_ALLOC if an allocation failed, or; RLC_RET_ERROR if an unspecified error occurred.

◆ _rcl_parse_external_log_config_file()

rcl_ret_t _rcl_parse_external_log_config_file	(	const char *	arg,
		rcl_allocator_t	allocator,
		char **	log_config_file
	)

Parse an argument that may or may not be a log file rule.

Parameters

[in]	arg	the argument to parse
[in]	allocator	an allocator to use
[in,out]	log_config_file	parsed log configuration file

Returns: RCL_RET_OK if a valid log config file was parsed, or; RCL_RET_BAD_ALLOC if an allocation failed, or; RLC_RET_ERROR if an unspecified error occurred.

◆ _rcl_parse_bool_arg()

RCL_LOCAL rcl_ret_t _rcl_parse_bool_arg	(	const char *	arg,
		const char *	key,
		bool *	value
	)

Parse a bool argument that may or may not be for the provided key rule.

Parameters

[in]	arg	the argument to parse
[in]	key	the key for the argument to parse. Should be a null terminated string
[in,out]	value	parsed boolean value

Returns: RCL_RET_OK if the bool argument was parsed successfully, or; RLC_RET_ERROR if an unspecified error occurred.

◆ _atob()

RCL_LOCAL rcl_ret_t _atob	(	const char *	str,
		bool *	val
	)

Parse a null terminated string to a boolean value.

The case sensitive values: "T", "t", "True", "true", "Y", "y", "Yes", "yes", and "1" will all map to true. The case sensitive values: "F", "f", "False", "false", "N", "n", "No", "no", and "0" will all map to false.

Parameters

[in]	str	a null terminated string to be parsed into a boolean
[in,out]	val	the boolean value parsed from the string. Left unchanged if string cannot be parsed to a valid bool.

Returns: RCL_RET_OK if a valid boolean parsed, or; RLC_RET_ERROR if an unspecified error occurred.

◆ rcl_parse_arguments()

rcl_ret_t rcl_parse_arguments	(	int	argc,
		const char *const	argv[],
		rcl_allocator_t	allocator,
		rcl_arguments_t *	args_output
	)

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.

See also: rcl_get_zero_initialized_arguments(); rcl_arguments_get_count_unparsed(); rcl_arguments_get_unparsed()

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 process will be /foo and not /bar.

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, warn, not case sensitive. If multiple of these rules are found, the last one parsed will be used.

See also: rcl_remap_topic_name(); rcl_remap_service_name(); rcl_remap_node_name(); rcl_remap_node_namespace()

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	argc	The number of arguments in argv.
[in]	argv	The values of the arguments.
[in]	allocator	A valid allocator.
[out]	args_output	A structure that will contain the result of parsing. Must be zero initialized before use.

Returns: RCL_RET_OK if the arguments were parsed successfully, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_arguments_get_count_unparsed()

int rcl_arguments_get_count_unparsed ( const rcl_arguments_t * args )

Return the number of arguments that were not successfully parsed.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] args An arguments structure that has been parsed.

Returns: number of unparsed arguments, or; -1 if args is NULL or zero initialized.

◆ rcl_arguments_get_unparsed()

rcl_ret_t rcl_arguments_get_unparsed	(	const rcl_arguments_t *	args,
		rcl_allocator_t	allocator,
		int **	output_unparsed_indices
	)

Return a list of indexes that weren't successfully parsed.

Some arguments may not have been successfully parsed, or were not intended as ROS arguments. This function populates an array of indexes to these arguments in the original argv array. Since the first argument is always assumed to be a process name, the list will always contain the index 0.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	args	An arguments structure that has been parsed.
[in]	allocator	A valid allocator.
[out]	output_unparsed_indices	An allocated array of indices into the original argv array. This array must be deallocated by the caller using the given allocator. If there are no unparsed args then the output will be set to NULL.

Returns: RCL_RET_OK if everything goes correctly, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_zero_initialized_arguments()

rcl_arguments_t rcl_get_zero_initialized_arguments ( void )

Return a rcl_arguments_t struct with members initialized to NULL.

◆ rcl_remove_ros_arguments()

rcl_ret_t rcl_remove_ros_arguments	(	char const *const	argv[],
		const rcl_arguments_t *	args,
		rcl_allocator_t	allocator,
		int *	nonros_argc,
		const char **	nonros_argv[]
	)

Return a list of arguments with ROS-specific arguments removed.

Some arguments may not have been intended as ROS arguments. This function populates an array of the aruments in a new argv array. Since the first argument is always assumed to be a process name, the list will always contain the first value from the argument vector.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	argv	The argument vector
[in]	args	An arguments structure that has been parsed.
[in]	allocator	A valid allocator.
[out]	nonros_argc	The count of arguments that aren't ROS-specific
[out]	nonros_argv	An allocated array of arguments that aren't ROS-specific This array must be deallocated by the caller using the given allocator. If there are no non-ROS args, then the output will be set to NULL.

Returns: RCL_RET_OK if everything goes correctly, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_arguments_copy()

rcl_ret_t rcl_arguments_copy	(	const rcl_arguments_t *	args,
		rcl_arguments_t *	args_out
	)

Copy one arguments structure into another.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	args	The structure to be copied. Its allocator is used to copy memory into the new structure.
[out]	args_out	A zero-initialized arguments structure to be copied into.

Returns: RCL_RET_OK if the structure was copied successfully, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_arguments_fini()

rcl_ret_t rcl_arguments_fini ( rcl_arguments_t * args )

Reclaim resources held inside rcl_arguments_t structure.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] args The structure to be deallocated.

Returns: RCL_RET_OK if the memory was successfully freed, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ _rcl_parse_remap_fully_qualified_namespace()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_fully_qualified_namespace ( rcl_lexer_lookahead2_t * lex_lookahead )

Parses a fully qualified namespace for a namespace replacement rule (ex: /foo/bar)

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_replacement_token()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_replacement_token ( rcl_lexer_lookahead2_t * lex_lookahead )

Parse either a token or a backreference (ex: bar, or \7).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_replacement_name()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_replacement_name	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse the replacement side of a name remapping rule (ex: bar/\1/foo).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_match_token()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_match_token ( rcl_lexer_lookahead2_t * lex_lookahead )

Parse either a token or a wildcard (ex: foobar, or *, or **).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_match_name()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_match_name	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse the match side of a name remapping rule (ex: rostopic://foo)

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_name_remap()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_name_remap	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse a name remapping rule (ex: rostopic:///foo:=bar).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_namespace_replacement()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_namespace_replacement	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse a namespace replacement rule (ex: __ns:=/new/ns).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_nodename_replacement()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_nodename_replacement	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse a nodename replacement rule (ex: __node:=new_name).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_nodename_prefix()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_nodename_prefix	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Parse a nodename prefix including trailing colon (ex: node_name:).

See also: _rcl_parse_remap_begin_remap_rule()

◆ _rcl_parse_remap_begin_remap_rule()

RCL_LOCAL rcl_ret_t _rcl_parse_remap_begin_remap_rule	(	rcl_lexer_lookahead2_t *	lex_lookahead,
		rcl_remap_t *	rule
	)

Start recursive descent parsing of a remap rule.

Parameters

[in]	lex_lookahead	a lookahead(2) buffer for the parser to use.
[in,out]	rule	input a zero intialized rule, output a fully initialized one.

Returns: RCL_RET_OK if a valid rule was parsed, or; RCL_RET_INVALID_REMAP_RULE if the argument is not a valid rule, or; RCL_RET_BAD_ALLOC if an allocation failed, or; RLC_RET_ERROR if an unspecified error occurred.

Functions

Function Documentation

◆ _rcl_parse_remap_rule()

◆ _rcl_parse_param_file_rule()

◆ rcl_arguments_get_param_files()

◆ rcl_arguments_get_param_files_count()

◆ _rcl_parse_log_level_rule()

◆ _rcl_parse_external_log_config_file()

◆ _rcl_parse_bool_arg()

◆ _atob()

◆ rcl_parse_arguments()

◆ rcl_arguments_get_count_unparsed()

◆ rcl_arguments_get_unparsed()

◆ rcl_get_zero_initialized_arguments()

◆ rcl_remove_ros_arguments()

◆ rcl_arguments_copy()

◆ rcl_arguments_fini()

◆ _rcl_parse_remap_fully_qualified_namespace()

◆ _rcl_parse_remap_replacement_token()

◆ _rcl_parse_remap_replacement_name()

◆ _rcl_parse_remap_match_token()

◆ _rcl_parse_remap_match_name()

◆ _rcl_parse_remap_name_remap()

◆ _rcl_parse_remap_namespace_replacement()

◆ _rcl_parse_remap_nodename_replacement()

◆ _rcl_parse_remap_nodename_prefix()

◆ _rcl_parse_remap_begin_remap_rule()