arguments.h File Reference

#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#include "rcl_yaml_param_parser/types.h"

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

Macros
#define	RCL_ROS_ARGS_FLAG   "--ros-args"
#define	RCL_ROS_ARGS_EXPLICIT_END_TOKEN   "--"
#define	RCL_PARAM_FLAG   "--param"
#define	RCL_SHORT_PARAM_FLAG   "-p"
#define	RCL_PARAM_FILE_FLAG   "--params-file"
#define	RCL_REMAP_FLAG   "--remap"
#define	RCL_SHORT_REMAP_FLAG   "-r"
#define	RCL_LOG_LEVEL_FLAG   "--log-level"
#define	RCL_EXTERNAL_LOG_CONFIG_FLAG   "--log-config-file"
#define	RCL_LOG_STDOUT_FLAG_SUFFIX   "stdout-logs"
#define	RCL_LOG_ROSOUT_FLAG_SUFFIX   "rosout-logs"
#define	RCL_LOG_EXT_LIB_FLAG_SUFFIX   "external-lib-logs"
#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 ROS specific arguments. 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 indices to non ROS specific arguments. More...
int	rcl_arguments_get_count_unparsed_ros (const rcl_arguments_t *args)
	Return the number of ROS specific arguments that were not successfully parsed. More...
rcl_ret_t	rcl_arguments_get_unparsed_ros (const rcl_arguments_t *args, rcl_allocator_t allocator, int **output_unparsed_ros_indices)
	Return a list of indices to unknown ROS specific arguments that were left unparsed. 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_arguments_get_param_overrides (const rcl_arguments_t *arguments, rcl_params_t **parameter_overrides)
	Return all parameter overrides parsed from 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_ROS_ARGS_FLAG

#define RCL_ROS_ARGS_FLAG   "--ros-args"

RCL_ROS_ARGS_EXPLICIT_END_TOKEN

#define RCL_ROS_ARGS_EXPLICIT_END_TOKEN   "--"

RCL_PARAM_FLAG

#define RCL_PARAM_FLAG   "--param"

RCL_SHORT_PARAM_FLAG

#define RCL_SHORT_PARAM_FLAG   "-p"

RCL_PARAM_FILE_FLAG

#define RCL_PARAM_FILE_FLAG   "--params-file"

RCL_REMAP_FLAG

#define RCL_REMAP_FLAG   "--remap"

RCL_SHORT_REMAP_FLAG

#define RCL_SHORT_REMAP_FLAG   "-r"

RCL_LOG_LEVEL_FLAG

#define RCL_LOG_LEVEL_FLAG   "--log-level"

RCL_EXTERNAL_LOG_CONFIG_FLAG

#define RCL_EXTERNAL_LOG_CONFIG_FLAG   "--log-config-file"

RCL_LOG_STDOUT_FLAG_SUFFIX

#define RCL_LOG_STDOUT_FLAG_SUFFIX   "stdout-logs"

RCL_LOG_ROSOUT_FLAG_SUFFIX

#define RCL_LOG_ROSOUT_FLAG_SUFFIX   "rosout-logs"

RCL_LOG_EXT_LIB_FLAG_SUFFIX

#define RCL_LOG_EXT_LIB_FLAG_SUFFIX   "external-lib-logs"

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

typedef struct rcl_arguments_t 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.

See also

rcl_get_zero_initialized_arguments()

ROS arguments are expected to be scoped by a leading --ros-args flag and a trailing double dash token -- which may be elided if no non-ROS arguments follow after the last --ros-args.

Remap rule parsing is supported via -r/--remap flags e.g. --remap from:=to or -r from:=to. 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.

See also

rcl_remap_topic_name()

rcl_remap_service_name()

rcl_remap_node_name()

rcl_remap_node_namespace()

Parameter override rule parsing is supported via -p/--param flags e.g. --param name:=value or -p name:=value.

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.

If an argument does not appear to be a valid ROS argument e.g. a -r/--remap flag followed by anything but a valid remap rule, parsing will fail immediately.

If an argument does not appear to be a known ROS argument, then it is skipped and left unparsed.

See also

rcl_arguments_get_count_unparsed_ros()

rcl_arguments_get_unparsed_ros()

All arguments found outside a --ros-args ... -- scope are skipped and left unparsed.

See also

rcl_arguments_get_count_unparsed()

rcl_arguments_get_unparsed()

---

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_ROS_ARGS if an invalid ROS argument is found, 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 ROS specific arguments.

---

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 indices to non ROS specific arguments.

Non ROS specific arguments may have been provided i.e. arguments outside a '–ros-args' scope. This function populates an array of indices 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_arguments_get_count_unparsed_ros()

int rcl_arguments_get_count_unparsed_ros

(

const rcl_arguments_t *

args

)

Return the number of ROS specific 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 ROS specific arguments, or

-1 if args is NULL or zero initialized.

rcl_arguments_get_unparsed_ros()

rcl_ret_t rcl_arguments_get_unparsed_ros	(	const rcl_arguments_t *	args,
		rcl_allocator_t	allocator,
		int **	output_unparsed_ros_indices
	)

Return a list of indices to unknown ROS specific arguments that were left unparsed.

Some ROS specific arguments may not have been recognized, or were not intended to be parsed by rcl. This function populates an array of indices to these arguments in the original argv array.

---

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 ROS specific arguments 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]

args

An 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]	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_overrides()

rcl_ret_t rcl_arguments_get_param_overrides	(	const rcl_arguments_t *	arguments,
		rcl_params_t **	parameter_overrides
	)

Return all parameter overrides parsed from the command line.

Parameter overrides are parsed directly from command line arguments and parameter files provided in 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.
[out]	parameter_overrides	Parameter overrides as parsed from command line arguments. This structure must be finalized by the caller. The output is NULL if no parameter overrides were parsed.

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]	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.