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Allow forward slashes within a parameter name rule in argument parsing #860

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merged 3 commits into from
Mar 24, 2022
Merged

Allow forward slashes within a parameter name rule in argument parsing #860

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c2e6c0c
Allow forward slashes within a parameter name rule in argument parsing
ivanpauno Nov 6, 2020
82f7207
Add test case
ivanpauno Mar 23, 2022
012cd84
please linters
ivanpauno Mar 23, 2022
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43 changes: 41 additions & 2 deletions rcl/src/rcl/arguments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1248,6 +1248,45 @@ _rcl_parse_resource_match(
return RCL_RET_OK;
}

RCL_LOCAL
rcl_ret_t
_rcl_parse_param_name_token(rcl_lexer_lookahead2_t * lex_lookahead)
{
rcl_ret_t ret;
rcl_lexeme_t lexeme;

// Check arguments sanity
assert(NULL != lex_lookahead);

ret = rcl_lexer_lookahead2_peek(lex_lookahead, &lexeme);
if (RCL_RET_OK != ret) {
return ret;
}
if (RCL_LEXEME_TOKEN != lexeme && RCL_LEXEME_FORWARD_SLASH != lexeme) {
if (RCL_LEXEME_WILD_ONE == lexeme) {
RCL_SET_ERROR_MSG("Wildcard '*' is not implemented");
return RCL_RET_ERROR;
} else if (RCL_LEXEME_WILD_MULTI == lexeme) {
RCL_SET_ERROR_MSG("Wildcard '**' is not implemented");
return RCL_RET_ERROR;
} else {
RCL_SET_ERROR_MSG("Expecting token or wildcard");
return RCL_RET_WRONG_LEXEME;
}
}
do {
ret = rcl_lexer_lookahead2_accept(lex_lookahead, NULL, NULL);
if (RCL_RET_OK != ret) {
return ret;
}
ret = rcl_lexer_lookahead2_peek(lex_lookahead, &lexeme);
if (RCL_RET_OK != ret) {
return ret;
}
} while (RCL_LEXEME_TOKEN == lexeme || RCL_LEXEME_FORWARD_SLASH == lexeme);
return RCL_RET_OK;
}

/// Parse a parameter name in a parameter override rule (ex: `foo.bar`)
/**
* \sa _rcl_parse_param_rule()
Expand Down Expand Up @@ -1277,7 +1316,7 @@ _rcl_parse_param_name(
}

// token ( '.' token )*
ret = _rcl_parse_resource_match_token(lex_lookahead);
ret = _rcl_parse_param_name_token(lex_lookahead);
if (RCL_RET_OK != ret) {
return ret;
}
Expand All @@ -1290,7 +1329,7 @@ _rcl_parse_param_name(
if (RCL_RET_WRONG_LEXEME == ret) {
return RCL_RET_INVALID_REMAP_RULE;
}
ret = _rcl_parse_resource_match_token(lex_lookahead);
ret = _rcl_parse_param_name_token(lex_lookahead);
if (RCL_RET_OK != ret) {
return ret;
}
Expand Down
7 changes: 6 additions & 1 deletion rcl/test/rcl/test_arguments.cpp
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Expand Up @@ -149,10 +149,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///rosservice:=rostopic"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:///foo/bar:=baz"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=bar"}));
// TODO(ivanpauno): Currently, we're accepting `/`, as they're being accepted by qos overrides.
// We might need to revisit qos overrides parameters names if ROS 2 URIs get
// modified.
EXPECT_TRUE(
are_known_ros_args(
{"--ros-args", "-p", "qos_overrides./foo/bar.publisher.history:=keep_last"}));
// TODO(hidmic): restore tests (and drop the following ones) when parameter names
// are standardized to use slashes in lieu of dots.
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "~/foo:=~/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo/bar:=bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo:=/bar"}));
// EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "foo.bar:=bar"}));
Expand Down