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C API providing common ROS client library functionality.
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arguments.h File Reference
#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
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Classes

struct  rcl_arguments_t
 Hold output of parsing command line arguments. More...
 

Macros

#define RCL_LOG_LEVEL_ARG_RULE   "__log_level:="
 
#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE   "__log_config_file:="
 
#define RCL_LOG_DISABLE_STDOUT_ARG_RULE   "__log_disable_stdout:="
 
#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE   "__log_disable_rosout:="
 
#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE   "__log_disable_external_lib:="
 
#define RCL_PARAM_FILE_ARG_RULE   "__params:="
 

Typedefs

typedef struct rcl_arguments_t rcl_arguments_t
 Hold output of parsing command line arguments. More...
 

Functions

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_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...
 
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_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...
 
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...
 

Macro Definition Documentation

◆ RCL_LOG_LEVEL_ARG_RULE

#define RCL_LOG_LEVEL_ARG_RULE   "__log_level:="

◆ RCL_EXTERNAL_LOG_CONFIG_ARG_RULE

#define RCL_EXTERNAL_LOG_CONFIG_ARG_RULE   "__log_config_file:="

◆ RCL_LOG_DISABLE_STDOUT_ARG_RULE

#define RCL_LOG_DISABLE_STDOUT_ARG_RULE   "__log_disable_stdout:="

◆ RCL_LOG_DISABLE_ROSOUT_ARG_RULE

#define RCL_LOG_DISABLE_ROSOUT_ARG_RULE   "__log_disable_rosout:="

◆ RCL_LOG_DISABLE_EXT_LIB_ARG_RULE

#define RCL_LOG_DISABLE_EXT_LIB_ARG_RULE   "__log_disable_external_lib:="

◆ RCL_PARAM_FILE_ARG_RULE

#define RCL_PARAM_FILE_ARG_RULE   "__params:="

Typedef Documentation

◆ rcl_arguments_t

Hold output of parsing command line arguments.

Function Documentation

◆ 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_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]argcThe number of arguments in argv.
[in]argvThe values of the arguments.
[in]allocatorA valid allocator.
[out]args_outputA 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]argsAn 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]argsAn arguments structure that has been parsed.
[in]allocatorA valid allocator.
[out]output_unparsed_indicesAn 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_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]argsAn arguments structure that has been parsed.
Returns
number of yaml files, or
-1 if args is NULL or zero initialized.

◆ 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]argumentsAn arguments structure that has been parsed.
[in]allocatorA valid allocator.
[out]parameter_filesAn 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_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]argvThe argument vector
[in]argsAn arguments structure that has been parsed.
[in]allocatorA valid allocator.
[out]nonros_argcThe count of arguments that aren't ROS-specific
[out]nonros_argvAn 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]argsThe structure to be copied. Its allocator is used to copy memory into the new structure.
[out]args_outA 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]argsThe 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.