arguments.h

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// 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.

#ifndef RCL__ARGUMENTS_H_
#define RCL__ARGUMENTS_H_

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

#ifdef __cplusplus
extern "C"
{
#endif

struct rcl_arguments_impl_t;

typedef struct rcl_arguments_t
{
  struct rcl_arguments_impl_t * impl;
} rcl_arguments_t;

#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"
// To be prefixed with --enable- or --disable-
#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"

// \deprecated to be removed in F-Turtle
#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:="

RCL_PUBLIC
RCL_WARN_UNUSED
rcl_arguments_t
rcl_get_zero_initialized_arguments(void);


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


RCL_PUBLIC
RCL_WARN_UNUSED
int
rcl_arguments_get_count_unparsed(
  const rcl_arguments_t * args);


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


RCL_PUBLIC
RCL_WARN_UNUSED
int
rcl_arguments_get_count_unparsed_ros(
  const rcl_arguments_t * args);


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


RCL_PUBLIC
RCL_WARN_UNUSED
int
rcl_arguments_get_param_files_count(
  const rcl_arguments_t * args);



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


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_arguments_get_param_overrides(
  const rcl_arguments_t * arguments,
  rcl_params_t ** parameter_overrides);


RCL_PUBLIC
RCL_WARN_UNUSED
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[]);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_arguments_copy(
  const rcl_arguments_t * args,
  rcl_arguments_t * args_out);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_arguments_fini(
  rcl_arguments_t * args);

#ifdef __cplusplus
}
#endif

#endif  // RCL__ARGUMENTS_H_