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Fail fast on invalid ROS arguments (#493)
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* Fail fast on invalid ROS arguments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Address peer review comments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Fix warning on Windows.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@hidmic
hidmic authored Sep 6, 2019
1 parent 2740a43 commit 40a276b
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Showing 4 changed files with 91 additions and 47 deletions.
8 changes: 6 additions & 2 deletions rcl/include/rcl/arguments.h
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,9 @@ rcl_get_zero_initialized_arguments(void);
* `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.
*
* \sa rcl_arguments_get_count_unparsed_ros()
Expand All @@ -104,6 +107,7 @@ rcl_get_zero_initialized_arguments(void);
* \param[out] args_output A structure that will contain the result of parsing.
* Must be zero initialized before use.
* \return `RCL_RET_OK` if the arguments were parsed successfully, or
* \return `RCL_RET_INVALID_ROS_ARGS` if an invalid ROS argument is found, or
* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
Expand Down Expand Up @@ -190,9 +194,9 @@ int
rcl_arguments_get_count_unparsed_ros(
const rcl_arguments_t * args);

/// Return a list of indices to ROS specific arguments that were not successfully parsed.
/// Return a list of indices to unknown ROS specific arguments that were left unparsed.
/**
* Some ROS specific arguments may not have been successfully parsed, or were not intended to be
* 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.
*
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2 changes: 2 additions & 0 deletions rcl/include/rcl/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,8 @@ typedef rmw_ret_t rcl_ret_t;
#define RCL_RET_INVALID_REMAP_RULE 1001
/// Expected one type of lexeme but got another
#define RCL_RET_WRONG_LEXEME 1002
/// Found invalid ros argument while parsing
#define RCL_RET_INVALID_ROS_ARGS 1003
/// Argument is not a valid parameter rule
#define RCL_RET_INVALID_PARAM_RULE 1010
/// Argument is not a valid log level rule
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37 changes: 23 additions & 14 deletions rcl/src/rcl/arguments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -310,18 +310,22 @@ rcl_parse_arguments(
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "param override rule : %s\n", argv[i + 1]);
i += 1; // Skip flag here, for loop will skip rule.
continue;
} else {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as parameter override rule. Error: %s", i + 1,
argv[i + 1], rcl_get_error_string().str);
}
rcl_error_string_t prev_error_string = rcl_get_error_string();
rcl_reset_error();
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Couldn't parse parameter override rule: '%s %s'. Error: %s", argv[i], argv[i + 1],
prev_error_string.str);
} else {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as parameter override flag. No rule found.\n",
i, argv[i]);
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Couldn't parse trailing parameter override rule: '%s'. No rule found.", argv[i]);
}
rcl_reset_error();
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as parameter override rule. Not a '%s' or '%s' flag.", i,
argv[i], RCL_PARAM_FLAG, RCL_SHORT_PARAM_FLAG);

// Attempt to parse argument as remap rule flag
if (strcmp(RCL_REMAP_FLAG, argv[i]) == 0 || strcmp(RCL_SHORT_REMAP_FLAG, argv[i]) == 0) {
Expand All @@ -335,16 +339,21 @@ rcl_parse_arguments(
i += 1; // Skip flag here, for loop will skip rule.
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule. Error: %s", i + 1, argv[i + 1],
rcl_get_error_string().str);
rcl_error_string_t prev_error_string = rcl_get_error_string();
rcl_reset_error();
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Couldn't parse remap rule: '%s %s'. Error: %s", argv[i], argv[i + 1],
prev_error_string.str);
} else {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule flag. No rule found.\n",
i, argv[i]);
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Couldn't parse trailing remap rule: '%s'. No rule found.", argv[i]);
}
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as remap rule. Not a '%s' or '%s' flag.", i,
argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);

// Attempt to parse argument as parameter file rule
args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
Expand Down
91 changes: 60 additions & 31 deletions rcl/test/rcl/test_arguments.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,37 +145,11 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
EXPECT_TRUE(are_known_ros_args({"--ros-args", "-p", "/foo123:=/bar123"}));
EXPECT_TRUE(are_known_ros_args({"--ros-args", "__params:=file_name.yaml"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--remap"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":=bar"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--param"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", ":="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "foo:="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", ":=bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__ns:="}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:="}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "__ns:=foo"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", ":__node:=nodename"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "~:__node:=nodename"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "}foo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "f oo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:=/b ar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "f{oo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "foo:=/b}ar"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "}foo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-p", "f oo:=/bar"}));

EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "rostopic://:=rosservice"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "-r", "rostopic::=rosservice"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "--custom-ros-arg"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__node:=node_name"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "old_name:__node:=node_name"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "/foo/bar:=bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "foo:=/bar"}));
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__param:=file_name.yaml"}));

// Setting logger level
Expand All @@ -194,6 +168,61 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
EXPECT_FALSE(are_known_ros_args({"--ros-args", "__log_level:=foo"}));
}

bool
are_valid_ros_args(std::vector<const char *> argv)
{
const int argc = static_cast<int>(argv.size());
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(
argc, argv.data(), rcl_get_default_allocator(), &parsed_args);
if (RCL_RET_OK != ret) {
EXPECT_EQ(ret, RCL_RET_INVALID_ROS_ARGS) << rcl_get_error_string().str;
rcl_reset_error();
return false;
}
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
return true;
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
EXPECT_TRUE(are_valid_ros_args({"--ros-args", "-p", "foo:=bar", "-r", "__node:=node_name"}));

// ROS args unknown to rcl are not (necessarily) invalid
EXPECT_TRUE(are_valid_ros_args({"--ros-args", "--custom-ros-arg"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--remap"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":=bar"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--param"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "foo:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", ":=bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:="}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:="}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__node:=/foo/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "__ns:=foo"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", ":__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "~:__node:=nodename"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b ar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "f{oo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "foo:=/b}ar"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "}foo:=/bar"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-p", "f oo:=/bar"}));

EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic://:=rosservice"}));
EXPECT_FALSE(are_valid_ros_args({"--ros-args", "-r", "rostopic::=rosservice"}));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(0, NULL, rcl_get_default_allocator(), &parsed_args);
Expand Down

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