Skip to content

Handle unknown global ROS arguments. #485

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
hidmic merged 1 commit into from
Dec 19, 2019
Merged

Handle unknown global ROS arguments. #485

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
33 changes: 26 additions & 7 deletions rclpy/src/rclpy/_rclpy.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -558,16 +558,35 @@ rclpy_init(PyObject * Py_UNUSED(self), PyObject * args)
if (have_args) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
if (RCL_RET_OK != ret) {
PyErr_Format(
RCLError, "Failed to initialize init_options: %s", rcl_get_error_string().str);
rcl_reset_error();
} else {
if (RCL_RET_OK == ret) {
ret = rcl_init(num_args, arg_values, &init_options, context);
if (ret != RCL_RET_OK) {
PyErr_Format(RCLError, "Failed to init: %s", rcl_get_error_string().str);
if (RCL_RET_OK == ret) {
int unparsed_ros_args_count =
rcl_arguments_get_count_unparsed_ros(&context->global_arguments);
if (unparsed_ros_args_count > 0) {
int * unparsed_ros_args_indices = NULL;
ret = rcl_arguments_get_unparsed_ros(
&context->global_arguments, allocator, &unparsed_ros_args_indices);
if (RCL_RET_OK == ret) {
_rclpy_raise_unknown_ros_args(
pyargs, unparsed_ros_args_indices, unparsed_ros_args_count);
allocator.deallocate(unparsed_ros_args_indices, allocator.state);
} else {
PyErr_Format(
PyExc_RuntimeError,
"Failed to get unparsed ROS arguments: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
}
} else {
PyErr_Format(PyExc_RuntimeError, "Failed to init: %s", rcl_get_error_string().str);
rcl_reset_error();
}
} else {
PyErr_Format(
PyExc_RuntimeError, "Failed to initialize init_options: %s", rcl_get_error_string().str);
rcl_reset_error();
}
}
if (NULL != arg_values) {
Expand Down
9 changes: 9 additions & 0 deletions rclpy/test/test_init_shutdown.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,15 @@ def test_init():
rclpy.shutdown(context=context)


def test_init_with_unknown_ros_args():
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy

context = rclpy.context.Context()
unknown_ros_args_error_pattern = r'Found unknown ROS arguments:.*\[\'unknown\'\]'
with pytest.raises(_rclpy.UnknownROSArgsError, match=unknown_ros_args_error_pattern):
rclpy.init(context=context, args=['--ros-args', 'unknown'])


def test_init_with_non_utf8_arguments():
context = rclpy.context.Context()
# Embed non decodable characters e.g. due to
Expand Down