node_options.cpp

// Copyright 2019 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.
 
#include "rclcpp/node_options.hpp"
 
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include <utility>
 
#include "rclcpp/detail/utilities.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
 
using rclcpp::exceptions::throw_from_rcl_error;
 
namespace rclcpp
{
 
namespace detail
{
static
void
rcl_node_options_t_destructor(rcl_node_options_t * node_options)
{
  if (node_options) {
    rcl_ret_t ret = rcl_node_options_fini(node_options);
    if (RCL_RET_OK != ret) {
      // Cannot throw here, as it may be called in the destructor.
      RCLCPP_ERROR(
        rclcpp::get_logger("rclcpp"),
        "failed to finalize rcl node options: %s", rcl_get_error_string().str);
      rcl_reset_error();
    }
 
    delete node_options;
    node_options = nullptr;
  }
}
}  // namespace detail
 
NodeOptions::NodeOptions(rcl_allocator_t allocator)
: node_options_(nullptr, detail::rcl_node_options_t_destructor), allocator_(allocator)
{}
 
NodeOptions::NodeOptions(const NodeOptions & other)
: node_options_(nullptr, detail::rcl_node_options_t_destructor)
{
  *this = other;
}
 
NodeOptions &
NodeOptions::operator=(const NodeOptions & other)
{
  if (this != &other) {
    this->node_options_.reset();
    this->context_ = other.context_;
    this->arguments_ = other.arguments_;
    this->parameter_overrides_ = other.parameter_overrides_;
    this->use_global_arguments_ = other.use_global_arguments_;
    this->enable_rosout_ = other.enable_rosout_;
    this->use_intra_process_comms_ = other.use_intra_process_comms_;
    this->enable_topic_statistics_ = other.enable_topic_statistics_;
    this->start_parameter_services_ = other.start_parameter_services_;
    this->start_parameter_event_publisher_ = other.start_parameter_event_publisher_;
    this->clock_qos_ = other.clock_qos_;
    this->use_clock_thread_ = other.use_clock_thread_;
    this->parameter_event_qos_ = other.parameter_event_qos_;
    this->rosout_qos_ = other.rosout_qos_;
    this->parameter_event_publisher_options_ = other.parameter_event_publisher_options_;
    this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
    this->automatically_declare_parameters_from_overrides_ =
      other.automatically_declare_parameters_from_overrides_;
    this->allocator_ = other.allocator_;
  }
  return *this;
}
 
const rcl_node_options_t *
NodeOptions::get_rcl_node_options() const
{
  // If it is nullptr, create it on demand.
  if (!node_options_) {
    node_options_.reset(new rcl_node_options_t);
    *node_options_ = rcl_node_get_default_options();
    node_options_->allocator = this->allocator_;
    node_options_->use_global_arguments = this->use_global_arguments_;
    node_options_->enable_rosout = this->enable_rosout_;
    node_options_->rosout_qos = this->rosout_qos_.get_rmw_qos_profile();
 
    int c_argc = 0;
    std::unique_ptr<const char *[]> c_argv;
    if (!this->arguments_.empty()) {
      if (this->arguments_.size() > static_cast<size_t>(std::numeric_limits<int>::max())) {
        throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
      }
 
      c_argc = static_cast<int>(this->arguments_.size());
      c_argv.reset(new const char *[c_argc]);
 
      for (std::size_t i = 0; i < this->arguments_.size(); ++i) {
        c_argv[i] = this->arguments_[i].c_str();
      }
    }
 
    rcl_ret_t ret = rcl_parse_arguments(
      c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments));
 
    if (RCL_RET_OK != ret) {
      throw_from_rcl_error(ret, "failed to parse arguments");
    }
 
    std::vector<std::string> unparsed_ros_arguments = detail::get_unparsed_ros_arguments(
      c_argc, c_argv.get(), &(node_options_->arguments), this->allocator_);
    if (!unparsed_ros_arguments.empty()) {
      throw exceptions::UnknownROSArgsError(std::move(unparsed_ros_arguments));
    }
  }
 
  return node_options_.get();
}
 
rclcpp::Context::SharedPtr
NodeOptions::context() const
{
  return this->context_;
}
 
NodeOptions &
NodeOptions::context(rclcpp::Context::SharedPtr context)
{
  this->context_ = context;
  return *this;
}
 
const std::vector<std::string> &
NodeOptions::arguments() const
{
  return this->arguments_;
}
 
NodeOptions &
NodeOptions::arguments(const std::vector<std::string> & arguments)
{
  this->node_options_.reset();  // reset node options to make it be recreated on next access.
  this->arguments_ = arguments;
  return *this;
}
 
std::vector<rclcpp::Parameter> &
NodeOptions::parameter_overrides()
{
  return this->parameter_overrides_;
}
 
const std::vector<rclcpp::Parameter> &
NodeOptions::parameter_overrides() const
{
  return this->parameter_overrides_;
}
 
NodeOptions &
NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides)
{
  this->parameter_overrides_ = parameter_overrides;
  return *this;
}
 
bool
NodeOptions::use_global_arguments() const
{
  return this->use_global_arguments_;
}
 
NodeOptions &
NodeOptions::use_global_arguments(bool use_global_arguments)
{
  this->node_options_.reset();  // reset node options to make it be recreated on next access.
  this->use_global_arguments_ = use_global_arguments;
  return *this;
}
 
bool
NodeOptions::enable_rosout() const
{
  return this->enable_rosout_;
}
 
NodeOptions &
NodeOptions::enable_rosout(bool enable_rosout)
{
  this->node_options_.reset();  // reset node options to make it be recreated on next access.
  this->enable_rosout_ = enable_rosout;
  return *this;
}
 
bool
NodeOptions::use_intra_process_comms() const
{
  return this->use_intra_process_comms_;
}
 
NodeOptions &
NodeOptions::use_intra_process_comms(bool use_intra_process_comms)
{
  this->use_intra_process_comms_ = use_intra_process_comms;
  return *this;
}
 
bool
NodeOptions::enable_topic_statistics() const
{
  return this->enable_topic_statistics_;
}
 
NodeOptions &
NodeOptions::enable_topic_statistics(bool enable_topic_statistics)
{
  this->enable_topic_statistics_ = enable_topic_statistics;
  return *this;
}
 
bool
NodeOptions::start_parameter_services() const
{
  return this->start_parameter_services_;
}
 
NodeOptions &
NodeOptions::start_parameter_services(bool start_parameter_services)
{
  this->start_parameter_services_ = start_parameter_services;
  return *this;
}
 
bool
NodeOptions::start_parameter_event_publisher() const
{
  return this->start_parameter_event_publisher_;
}
 
NodeOptions &
NodeOptions::start_parameter_event_publisher(bool start_parameter_event_publisher)
{
  this->start_parameter_event_publisher_ = start_parameter_event_publisher;
  return *this;
}
 
const rclcpp::QoS &
NodeOptions::clock_qos() const
{
  return this->clock_qos_;
}
 
NodeOptions &
NodeOptions::clock_qos(const rclcpp::QoS & clock_qos)
{
  this->clock_qos_ = clock_qos;
  return *this;
}
 
bool
NodeOptions::use_clock_thread() const
{
  return this->use_clock_thread_;
}
 
NodeOptions &
NodeOptions::use_clock_thread(bool use_clock_thread)
{
  this->use_clock_thread_ = use_clock_thread;
  return *this;
}
 
const rclcpp::QoS &
NodeOptions::parameter_event_qos() const
{
  return this->parameter_event_qos_;
}
 
NodeOptions &
NodeOptions::parameter_event_qos(const rclcpp::QoS & parameter_event_qos)
{
  this->parameter_event_qos_ = parameter_event_qos;
  return *this;
}
 
const rclcpp::QoS &
NodeOptions::rosout_qos() const
{
  return this->rosout_qos_;
}
 
NodeOptions &
NodeOptions::rosout_qos(const rclcpp::QoS & rosout_qos)
{
  this->node_options_.reset();
  this->rosout_qos_ = rosout_qos;
  return *this;
}
 
const rclcpp::PublisherOptionsBase &
NodeOptions::parameter_event_publisher_options() const
{
  return parameter_event_publisher_options_;
}
 
NodeOptions &
NodeOptions::parameter_event_publisher_options(
  const rclcpp::PublisherOptionsBase & parameter_event_publisher_options)
{
  parameter_event_publisher_options_ = parameter_event_publisher_options;
  return *this;
}
 
bool
NodeOptions::allow_undeclared_parameters() const
{
  return this->allow_undeclared_parameters_;
}
 
NodeOptions &
NodeOptions::allow_undeclared_parameters(bool allow_undeclared_parameters)
{
  this->allow_undeclared_parameters_ = allow_undeclared_parameters;
  return *this;
}
 
bool
NodeOptions::automatically_declare_parameters_from_overrides() const
{
  return this->automatically_declare_parameters_from_overrides_;
}
 
NodeOptions &
NodeOptions::automatically_declare_parameters_from_overrides(
  bool automatically_declare_parameters_from_overrides)
{
  this->automatically_declare_parameters_from_overrides_ =
    automatically_declare_parameters_from_overrides;
  return *this;
}
 
const rcl_allocator_t &
NodeOptions::allocator() const
{
  return this->allocator_;
}
 
NodeOptions &
NodeOptions::allocator(rcl_allocator_t allocator)
{
  this->node_options_.reset();  // reset node options to make it be recreated on next access.
  this->allocator_ = allocator;
  return *this;
}
 
}  // namespace rclcpp