From 12d3d80f815f35bbf0844f45f3b15a76f786081c Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Thu, 31 May 2018 14:50:38 +0200
Subject: [PATCH 01/18] wip

---
 rcl/include/rcl/arguments.h  |  19 +++++++
 rcl/include/rcl/types.h      |   2 +
 rcl/src/rcl/arguments.c      | 104 ++++++++++++++++++++++++++++++++++-
 rcl/src/rcl/arguments_impl.h |   6 ++
 4 files changed, 130 insertions(+), 1 deletion(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 7dd5e1588..1022c8577 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -20,6 +20,8 @@
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
+#include "rcutils/types.h"
+
 #ifdef __cplusplus
 extern "C"
 {
@@ -137,6 +139,23 @@ rcl_arguments_get_unparsed(
   rcl_allocator_t allocator,
   int ** output_unparsed_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);
+  // rcutils_string_array_t * parameter_files);
+
 /// Return a list of arguments with ROS-specific arguments removed.
 /**
  * Some arguments may not have been intended as ROS arguments.
diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h
index f63622a27..e18d78b5e 100644
--- a/rcl/include/rcl/types.h
+++ b/rcl/include/rcl/types.h
@@ -92,5 +92,7 @@ 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
+/// Argument is not a valid remap rule
+#define RCL_RET_INVALID_PARAM_RULE 1010
 
 #endif  // RCL__TYPES_H_
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 58224a545..bd6f889ba 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -51,6 +51,48 @@ _rcl_parse_remap_rule(
   rcl_allocator_t allocator,
   rcl_remap_t * output_rule);
 
+RCL_LOCAL
+rcl_ret_t
+_rcl_parse_param_rule(
+  const char * arg,
+  rcl_allocator_t allocator,
+  char * output_rule);
+
+rcl_ret_t
+rcl_arguments_get_param_files(
+  const rcl_arguments_t * arguments,
+  rcl_allocator_t allocator,
+  // char ** parameter_files)
+  rcutils_string_array_t * parameter_files)
+{
+  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(arguments, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCL_CHECK_ARGUMENT_FOR_NULL(arguments->impl, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCL_CHECK_ARGUMENT_FOR_NULL(parameter_files, RCL_RET_INVALID_ARGUMENT, allocator);
+  rcutils_ret_t ret = rcutils_string_array_init(
+    parameter_files, arguments->impl->num_param_files_args, &allocator);
+  if (ret != RCUTILS_RET_OK) {
+    return RCL_RET_BAD_ALLOC;
+  }
+  for (int i = 0; i < arguments->impl->num_param_files_args; ++i) {
+    snprintf(
+      parameter_files->data[i],
+      strlen(arguments->impl->parameter_files[i]),
+      "%s", arguments->impl->parameter_files[i]);
+  }
+  return RCL_RET_OK;
+}
+
+int
+rcl_arguments_get_param_files_count(
+  const rcl_arguments_t * args)
+{
+  if (NULL == args || NULL == args->impl) {
+    return -1;
+  }
+  return args->impl->num_param_files_args;
+}
+
 rcl_ret_t
 rcl_parse_arguments(
   int argc,
@@ -84,6 +126,8 @@ rcl_parse_arguments(
   args_impl->remap_rules = NULL;
   args_impl->unparsed_args = NULL;
   args_impl->num_unparsed_args = 0;
+  args_impl->parameter_files = NULL;
+  args_impl->num_param_files_args = 0;
   args_impl->allocator = allocator;
 
   if (argc == 0) {
@@ -102,12 +146,39 @@ rcl_parse_arguments(
     ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
+  args_impl->parameter_files = allocator.allocate(sizeof(char *) * argc, allocator.state);
+  if (NULL == args_impl->parameter_files) {
+    ret = RCL_RET_BAD_ALLOC;
+    goto fail;
+  }
 
+  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou1");
   // Attempt to parse arguments as remap rules
   for (int i = 0; i < argc; ++i) {
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou2 : %d", i);
     rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
     *rule = rcl_remap_get_zero_initialized();
-    if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
+    args_impl->parameter_files[args_impl->num_param_files_args] = allocator.allocate(sizeof(char) * (strlen(argv[i]) + 1), allocator.state);
+    if (NULL == args_impl->parameter_files[args_impl->num_param_files_args]) {
+      ret = RCL_RET_BAD_ALLOC;
+      goto fail;
+    }
+    // char * foobar = allocator.allocate(sizeof(char) * (strlen(argv[i]) + 1), allocator.state);
+    if (
+      RCL_RET_OK == _rcl_parse_param_rule(
+        argv[i], allocator, args_impl->parameter_files[args_impl->num_param_files_args])
+      // RCL_RET_OK == _rcl_parse_param_rule(
+      //    argv[i], allocator, foobar)
+    ) {
+      ++(args_impl->num_param_files_args);
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME,
+        "params rule : %s\n total num param rules %d",
+        args_impl->parameter_files[args_impl->num_param_files_args],
+        // args_impl->parameter_files[args_impl->num_param_files_args],
+        // foobar,
+        args_impl->num_param_files_args)
+    } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "remap rule")
       ++(args_impl->num_remap_rules);
     } else {
       RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
@@ -117,6 +188,7 @@ rcl_parse_arguments(
       ++(args_impl->num_unparsed_args);
     }
   }
+  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou3");
 
   // Shrink remap_rules array to match number of successfully parsed rules
   if (args_impl->num_remap_rules > 0) {
@@ -857,6 +929,36 @@ _rcl_parse_remap_rule(
   return ret;
 }
 
+rcl_ret_t
+_rcl_parse_param_rule(
+  const char * arg,
+  rcl_allocator_t allocator,
+  char * output_rule)
+{
+  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "enter param parsing");
+  RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
+  // RCL_CHECK_ARGUMENT_FOR_NULL(output_rule, RCL_RET_INVALID_ARGUMENT, allocator);
+
+  const char * param_prefix = "__params:=";
+  size_t param_prefix_len = strlen(param_prefix);
+  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "looking for '%s' in '%s'", param_prefix, arg);
+  if (strncmp(param_prefix, arg, param_prefix_len) == 0) {
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Found '%s' in '%s'", param_prefix, arg);
+    size_t outlen = strlen(arg) - param_prefix_len;
+    // output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
+    if (NULL == output_rule) {
+      return RCL_RET_BAD_ALLOC;
+    }
+    snprintf(output_rule, outlen + 1, "%s", arg + strlen("__params:="));
+    // memcpy(&output_rule, arg + param_prefix_len, outlen);
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Stripped param string: '%s'", output_rule);
+    return RCL_RET_OK;
+  } else{
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Couldn't find '%s' in '%s'", param_prefix, arg);
+  }
+  return RCL_RET_INVALID_PARAM_RULE;
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index a689c2c11..d2a0e4274 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -31,6 +31,12 @@ typedef struct rcl_arguments_impl_t
   /// Length of unparsed_args.
   int num_unparsed_args;
 
+  // TODO(mikaelarguedas) consider storing CLI parameter rules here
+  /// Array of yaml parameter file paths
+  char ** parameter_files;
+  /// Length of parameter_files.
+  int num_param_files_args;
+
   /// Array of rules for name remapping.
   rcl_remap_t * remap_rules;
   /// Length of remap_rules.

From eb7026875a5d0b06368e9d1d91f434098edec490 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 1 Jun 2018 09:31:40 -0700
Subject: [PATCH 02/18] rcl_arguments_get_param_files() with char **

Restore version of function that outputs a char **
---
 rcl/include/rcl/arguments.h | 23 +++++++++++++++++++++--
 rcl/src/rcl/arguments.c     | 11 +++++------
 2 files changed, 26 insertions(+), 8 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 1022c8577..168bbf5ce 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -147,14 +147,33 @@ rcl_arguments_get_param_files_count(
   const rcl_arguments_t * args);
 
 
+/// Return a list of yaml parameter file paths specified on the command line.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] arguments An arguments structure that has been parsed.
+ * \param[in] allocator A valid allocator.
+ * \param[out] parameter_files An allocated array of paramter file names.
+ *   This array must be deallocated by the caller using the given allocator.
+ *   The output is NULL if there were no paramter files.
+ * \return `RCL_RET_OK` if everything goes correctly, 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.
+ */
 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);
-  // rcutils_string_array_t * parameter_files);
+  char *** parameter_files);
 
 /// Return a list of arguments with ROS-specific arguments removed.
 /**
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index bd6f889ba..7e90cfd12 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -62,21 +62,20 @@ rcl_ret_t
 rcl_arguments_get_param_files(
   const rcl_arguments_t * arguments,
   rcl_allocator_t allocator,
-  // char ** parameter_files)
-  rcutils_string_array_t * parameter_files)
+  char *** parameter_files)
 {
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(arguments, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(arguments->impl, RCL_RET_INVALID_ARGUMENT, allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(parameter_files, RCL_RET_INVALID_ARGUMENT, allocator);
-  rcutils_ret_t ret = rcutils_string_array_init(
-    parameter_files, arguments->impl->num_param_files_args, &allocator);
-  if (ret != RCUTILS_RET_OK) {
+  *(parameter_files) = allocator.allocate(
+    sizeof(char *) * arguments->impl->num_param_files_args, allocator.state);
+  if (NULL == *parameter_files) {
     return RCL_RET_BAD_ALLOC;
   }
   for (int i = 0; i < arguments->impl->num_param_files_args; ++i) {
     snprintf(
-      parameter_files->data[i],
+      (*parameter_files)[i],
       strlen(arguments->impl->parameter_files[i]),
       "%s", arguments->impl->parameter_files[i]);
   }

From 80cb01676f887f1750617dd382f20a1f822db31c Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 1 Jun 2018 10:12:19 -0700
Subject: [PATCH 03/18] _rcl_parse_param_rule() allocates string

Before this commit `rcl_parse_params` was allocating space the size of
the argument, but the space only needs to be as big as the argument
minus the prefix length.
---
 rcl/src/rcl/arguments.c | 27 ++++++---------------------
 1 file changed, 6 insertions(+), 21 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 7e90cfd12..8304a6750 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -56,7 +56,7 @@ rcl_ret_t
 _rcl_parse_param_rule(
   const char * arg,
   rcl_allocator_t allocator,
-  char * output_rule);
+  char ** output_rule);
 
 rcl_ret_t
 rcl_arguments_get_param_files(
@@ -157,17 +157,10 @@ rcl_parse_arguments(
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou2 : %d", i);
     rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
     *rule = rcl_remap_get_zero_initialized();
-    args_impl->parameter_files[args_impl->num_param_files_args] = allocator.allocate(sizeof(char) * (strlen(argv[i]) + 1), allocator.state);
-    if (NULL == args_impl->parameter_files[args_impl->num_param_files_args]) {
-      ret = RCL_RET_BAD_ALLOC;
-      goto fail;
-    }
-    // char * foobar = allocator.allocate(sizeof(char) * (strlen(argv[i]) + 1), allocator.state);
+    args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
     if (
       RCL_RET_OK == _rcl_parse_param_rule(
-        argv[i], allocator, args_impl->parameter_files[args_impl->num_param_files_args])
-      // RCL_RET_OK == _rcl_parse_param_rule(
-      //    argv[i], allocator, foobar)
+        argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args]))
     ) {
       ++(args_impl->num_param_files_args);
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME,
@@ -932,28 +925,20 @@ rcl_ret_t
 _rcl_parse_param_rule(
   const char * arg,
   rcl_allocator_t allocator,
-  char * output_rule)
+  char ** output_rule)
 {
-  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "enter param parsing");
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
-  // RCL_CHECK_ARGUMENT_FOR_NULL(output_rule, RCL_RET_INVALID_ARGUMENT, allocator);
 
   const char * param_prefix = "__params:=";
   size_t param_prefix_len = strlen(param_prefix);
-  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "looking for '%s' in '%s'", param_prefix, arg);
   if (strncmp(param_prefix, arg, param_prefix_len) == 0) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Found '%s' in '%s'", param_prefix, arg);
     size_t outlen = strlen(arg) - param_prefix_len;
-    // output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
+    *output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);
     if (NULL == output_rule) {
       return RCL_RET_BAD_ALLOC;
     }
-    snprintf(output_rule, outlen + 1, "%s", arg + strlen("__params:="));
-    // memcpy(&output_rule, arg + param_prefix_len, outlen);
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Stripped param string: '%s'", output_rule);
+    snprintf(*output_rule, outlen + 1, "%s", arg + param_prefix_len);
     return RCL_RET_OK;
-  } else{
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Couldn't find '%s' in '%s'", param_prefix, arg);
   }
   return RCL_RET_INVALID_PARAM_RULE;
 }

From 5015711cd7df05b73549ae6a3b857e5c24942d10 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 1 Jun 2018 10:15:37 -0700
Subject: [PATCH 04/18] Debug print before incrementing num files

---
 rcl/src/rcl/arguments.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 8304a6750..4dfb0eddf 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -162,13 +162,13 @@ rcl_parse_arguments(
       RCL_RET_OK == _rcl_parse_param_rule(
         argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args]))
     ) {
-      ++(args_impl->num_param_files_args);
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME,
         "params rule : %s\n total num param rules %d",
         args_impl->parameter_files[args_impl->num_param_files_args],
         // args_impl->parameter_files[args_impl->num_param_files_args],
         // foobar,
         args_impl->num_param_files_args)
+      ++(args_impl->num_param_files_args);
     } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "remap rule")
       ++(args_impl->num_remap_rules);

From 1ee2846084f8a2c1066eb0f820445a5f3b279735 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 1 Jun 2018 12:11:17 -0700
Subject: [PATCH 05/18] Alloc and make sure to dealloc on failure

---
 rcl/src/rcl/arguments.c | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 4dfb0eddf..cc218efbf 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -74,10 +74,16 @@ rcl_arguments_get_param_files(
     return RCL_RET_BAD_ALLOC;
   }
   for (int i = 0; i < arguments->impl->num_param_files_args; ++i) {
-    snprintf(
-      (*parameter_files)[i],
-      strlen(arguments->impl->parameter_files[i]),
-      "%s", arguments->impl->parameter_files[i]);
+    (*parameter_files)[i] = rcutils_strdup(arguments->impl->parameter_files[i], allocator);
+    if (NULL == *parameter_files) {
+      // deallocate allocated memory
+      for (int r = i; r >= 0; --r) {
+        allocator.deallocate((*parameter_files[i]), allocator.state);
+      }
+      allocator.deallocate((*parameter_files), allocator.state);
+      (*parameter_files) = NULL;
+      return RCL_RET_BAD_ALLOC;
+    }
   }
   return RCL_RET_OK;
 }

From 7538cfde88f984e55308624df72080f3afb8b214 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Mon, 4 Jun 2018 21:35:40 +0200
Subject: [PATCH 06/18] fix print of parsed parameter rule

---
 rcl/src/rcl/arguments.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index cc218efbf..b7c88fadd 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -168,13 +168,11 @@ rcl_parse_arguments(
       RCL_RET_OK == _rcl_parse_param_rule(
         argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args]))
     ) {
+      ++(args_impl->num_param_files_args);
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME,
         "params rule : %s\n total num param rules %d",
-        args_impl->parameter_files[args_impl->num_param_files_args],
-        // args_impl->parameter_files[args_impl->num_param_files_args],
-        // foobar,
+        args_impl->parameter_files[args_impl->num_param_files_args - 1],
         args_impl->num_param_files_args)
-      ++(args_impl->num_param_files_args);
     } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "remap rule")
       ++(args_impl->num_remap_rules);

From 9afdf2982982f84faf464a14c74658ead2ffa7cf Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Mon, 4 Jun 2018 21:36:53 +0200
Subject: [PATCH 07/18] rcutils types not needed as we dont use
 rcutils_string_array anymore

---
 rcl/include/rcl/arguments.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 168bbf5ce..9b89e806c 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -20,8 +20,6 @@
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-#include "rcutils/types.h"
-
 #ifdef __cplusplus
 extern "C"
 {

From 06f6d94371ee86cbeb3cb8596e01d66e5a6630ae Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Mon, 4 Jun 2018 23:52:40 +0200
Subject: [PATCH 08/18] minimal test

---
 rcl/test/rcl/test_arguments.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index f4b9b2f5a..6401cc8ae 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -100,6 +100,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_TRUE(is_valid_arg("rostopic://rostopic:=rosservice"));
   EXPECT_TRUE(is_valid_arg("rostopic:///rosservice:=rostopic"));
   EXPECT_TRUE(is_valid_arg("rostopic:///foo/bar:=baz"));
+  EXPECT_TRUE(is_valid_arg("__params:=node_name"));
 
   EXPECT_FALSE(is_valid_arg(":="));
   EXPECT_FALSE(is_valid_arg("foo:="));
@@ -117,6 +118,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_FALSE(is_valid_arg("foo:=/b}ar"));
   EXPECT_FALSE(is_valid_arg("rostopic://:=rosservice"));
   EXPECT_FALSE(is_valid_arg("rostopic::=rosservice"));
+  EXPECT_FALSE(is_valid_arg("__param:=node_name"));
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {

From 82d07df8c651ee4c750a1e600a7d43cd23c08c0a Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Tue, 5 Jun 2018 13:40:51 +0200
Subject: [PATCH 09/18] cleanup debug prints

---
 rcl/include/rcl/types.h | 2 +-
 rcl/src/rcl/arguments.c | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h
index e18d78b5e..725161b69 100644
--- a/rcl/include/rcl/types.h
+++ b/rcl/include/rcl/types.h
@@ -92,7 +92,7 @@ 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
-/// Argument is not a valid remap rule
+/// Argument is not a valid parameter rule
 #define RCL_RET_INVALID_PARAM_RULE 1010
 
 #endif  // RCL__TYPES_H_
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index b7c88fadd..da3bfd599 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -157,10 +157,8 @@ rcl_parse_arguments(
     goto fail;
   }
 
-  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou1");
   // Attempt to parse arguments as remap rules
   for (int i = 0; i < argc; ++i) {
-    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou2 : %d", i);
     rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
     *rule = rcl_remap_get_zero_initialized();
     args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
@@ -169,12 +167,11 @@ rcl_parse_arguments(
         argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args]))
     ) {
       ++(args_impl->num_param_files_args);
-      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME,
+      RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
         "params rule : %s\n total num param rules %d",
         args_impl->parameter_files[args_impl->num_param_files_args - 1],
         args_impl->num_param_files_args)
     } else if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
-      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "remap rule")
       ++(args_impl->num_remap_rules);
     } else {
       RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "arg %d (%s) error '%s'", i, argv[i],
@@ -184,7 +181,6 @@ rcl_parse_arguments(
       ++(args_impl->num_unparsed_args);
     }
   }
-  RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "coucou3");
 
   // Shrink remap_rules array to match number of successfully parsed rules
   if (args_impl->num_remap_rules > 0) {

From 72a28741605e6ffea8fb2d5aaed2e8c513c34088 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Tue, 5 Jun 2018 13:45:47 +0200
Subject: [PATCH 10/18] linter fixup

---
 rcl/src/rcl/arguments.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index da3bfd599..0bb611f4a 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -164,8 +164,8 @@ rcl_parse_arguments(
     args_impl->parameter_files[args_impl->num_param_files_args] = NULL;
     if (
       RCL_RET_OK == _rcl_parse_param_rule(
-        argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args]))
-    ) {
+        argv[i], allocator, &(args_impl->parameter_files[args_impl->num_param_files_args])))
+    {
       ++(args_impl->num_param_files_args);
       RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
         "params rule : %s\n total num param rules %d",

From 6073307d9768ab01486d4df46283fb81bfe5d091 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Tue, 5 Jun 2018 14:12:43 +0200
Subject: [PATCH 11/18] add tests for param arguments

---
 rcl/test/rcl/test_arguments.cpp | 56 +++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)

diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index 6401cc8ae..6f91096b8 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -301,3 +301,59 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
     alloc.deallocate(nonros_argv, alloc.state);
   }
 }
+
+TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_zero) {
+  const char * argv[] = {"process_name", "__ns:=/namespace", "random:=arg"};
+  int argc = sizeof(argv) / sizeof(const char *);
+  rcl_ret_t ret;
+
+  rcl_allocator_t alloc = rcl_get_default_allocator();
+  rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
+
+  ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
+  EXPECT_EQ(0, parameter_filecount);
+}
+
+TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
+  const char * argv[] = {"process_name", "__ns:=/namespace", "random:=arg", "__params:=parameter_filepath"};
+  int argc = sizeof(argv) / sizeof(const char *);
+  rcl_ret_t ret;
+
+  rcl_allocator_t alloc = rcl_get_default_allocator();
+  rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
+
+  ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
+  EXPECT_EQ(1, parameter_filecount);
+  char ** parameter_files = NULL;
+  ret = rcl_arguments_get_param_files(&parsed_args, alloc, &parameter_files);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_STREQ("parameter_filepath", parameter_files[0]);
+}
+
+TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
+  const char * argv[] = {
+    "process_name", "__params:=parameter_filepath1", "__ns:=/namespace",
+    "random:=arg", "__params:=parameter_filepath2"};
+  int argc = sizeof(argv) / sizeof(const char *);
+  rcl_ret_t ret;
+
+  rcl_allocator_t alloc = rcl_get_default_allocator();
+  rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
+
+  ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
+  EXPECT_EQ(2, parameter_filecount);
+  char ** parameter_files = NULL;
+  ret = rcl_arguments_get_param_files(&parsed_args, alloc, &parameter_files);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_STREQ("parameter_filepath1", parameter_files[0]);
+  EXPECT_STREQ("parameter_filepath2", parameter_files[1]);
+}

From 4592e3e2806b2ffe8119962d82b26756d234a2f8 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Tue, 5 Jun 2018 15:07:12 +0200
Subject: [PATCH 12/18] lint tests

---
 rcl/test/rcl/test_arguments.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index 6f91096b8..7d36673f4 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -318,7 +318,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
-  const char * argv[] = {"process_name", "__ns:=/namespace", "random:=arg", "__params:=parameter_filepath"};
+  const char * argv[] = {
+    "process_name", "__ns:=/namespace", "random:=arg", "__params:=parameter_filepath"
+  };
   int argc = sizeof(argv) / sizeof(const char *);
   rcl_ret_t ret;
 
@@ -339,7 +341,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
   const char * argv[] = {
     "process_name", "__params:=parameter_filepath1", "__ns:=/namespace",
-    "random:=arg", "__params:=parameter_filepath2"};
+    "random:=arg", "__params:=parameter_filepath2"
+  };
   int argc = sizeof(argv) / sizeof(const char *);
   rcl_ret_t ret;
 

From dcd58b26448c208de27747014b8093883b3a0d3d Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 09:28:54 -0700
Subject: [PATCH 13/18] Doc for rcl_arguments_get_param_files_count()

---
 rcl/include/rcl/arguments.h | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 9b89e806c..64f310e3b 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -137,7 +137,20 @@ rcl_arguments_get_unparsed(
   rcl_allocator_t allocator,
   int ** output_unparsed_indices);
 
-
+/// Return the number of parameter yaml files given in the arguments.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] args An arguments structure that has been parsed.
+ * \return number of yaml files, or
+ * \return -1 if args is `NULL` or zero initialized.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 int

From 8e5d553c2ae95ebc9bb48eff02df5674b5a9a80b Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 09:36:02 -0700
Subject: [PATCH 14/18] Shrink parameter files

---
 rcl/src/rcl/arguments.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 0bb611f4a..18a4eaf5c 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -195,6 +195,18 @@ rcl_parse_arguments(
     allocator.deallocate(args_impl->remap_rules, allocator.state);
     args_impl->remap_rules = NULL;
   }
+  // Shrink Parameter files
+  if (0 == args_impl->num_param_files_args) {
+    allocator.deallocate(args_impl->parameter_files, allocator.state);
+    args_impl->parameter_files = NULL;
+  } else if (args_impl->num_param_files_args < argc) {
+    args_impl->parameter_files = rcutils_reallocf(
+      args_impl->parameter_files, sizeof(char *) * args_impl->num_param_files_args, &allocator);
+    if (NULL == args_impl->parameter_files) {
+      ret = RCL_RET_BAD_ALLOC;
+      goto fail;
+    }
+  }
   // Shrink unparsed_args
   if (0 == args_impl->num_unparsed_args) {
     // No unparsed args

From 449ccb95cee04b08265aa98ad674f6b6f9098f2d Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 09:38:45 -0700
Subject: [PATCH 15/18] const param_prefix_len

---
 rcl/src/rcl/arguments.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 18a4eaf5c..51abdd2b8 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -942,7 +942,7 @@ _rcl_parse_param_rule(
   RCL_CHECK_ARGUMENT_FOR_NULL(arg, RCL_RET_INVALID_ARGUMENT, allocator);
 
   const char * param_prefix = "__params:=";
-  size_t param_prefix_len = strlen(param_prefix);
+  const size_t param_prefix_len = strlen(param_prefix);
   if (strncmp(param_prefix, arg, param_prefix_len) == 0) {
     size_t outlen = strlen(arg) - param_prefix_len;
     *output_rule = allocator.allocate(sizeof(char) * (outlen + 1), allocator.state);

From dd0f088f0171af9bd1cf452123d393ac6056daea Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 10:20:40 -0700
Subject: [PATCH 16/18] Copy parameter file names

---
 rcl/src/rcl/arguments.c | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 51abdd2b8..7d55f493a 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -346,6 +346,7 @@ rcl_arguments_copy(
   // Zero so it's safe to call rcl_arguments_fini() if an error occurrs while copying.
   args_out->impl->num_remap_rules = 0;
   args_out->impl->num_unparsed_args = 0;
+  args_out->impl->num_param_files_args = 0;
 
   // Copy unparsed args
   args_out->impl->unparsed_args = allocator.allocate(
@@ -382,6 +383,30 @@ rcl_arguments_copy(
       return ret;
     }
   }
+  // Copy parameter files
+  if (args->impl->num_param_files_args) {
+    args_out->impl->parameter_files = allocator.allocate(
+      sizeof(char *) * args->impl->num_param_files_args, allocator.state);
+    if (NULL == args_out->impl->parameter_files) {
+      if (RCL_RET_OK != rcl_arguments_fini(args_out)) {
+        RCL_SET_ERROR_MSG("Error while finalizing arguments due to another error", error_alloc);
+      }
+      return RCL_RET_BAD_ALLOC;
+    }
+    args_out->impl->num_param_files_args = args->impl->num_param_files_args;
+    for (int i = 0; i < args->impl->num_param_files_args; ++i) {
+      args_out->impl->parameter_files[i] =
+        rcutils_strdup(args->impl->parameter_files[i], allocator);
+      if (NULL == args_out->impl->parameter_files[i]) {
+        if (RCL_RET_OK != rcl_arguments_fini(args_out)) {
+          RCL_SET_ERROR_MSG("Error while finalizing arguments due to another error", error_alloc);
+        }
+        return RCL_RET_BAD_ALLOC;
+      }
+    }
+  } else {
+    args_out->impl->parameter_files = NULL;
+  }
   return RCL_RET_OK;
 }
 

From e90eddedab5a961a45f1ca556da54f517e2f564b Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 10:21:07 -0700
Subject: [PATCH 17/18] deallocate parameter files in fini

---
 rcl/src/rcl/arguments.c | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 7d55f493a..f16994d17 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -438,6 +438,16 @@ rcl_arguments_fini(
     args->impl->num_unparsed_args = 0;
     args->impl->unparsed_args = NULL;
 
+    if (args->impl->parameter_files) {
+      for (int p = 0; p < args->impl->num_param_files_args; ++p) {
+        args->impl->allocator.deallocate(
+          args->impl->parameter_files[p], args->impl->allocator.state);
+      }
+      args->impl->allocator.deallocate(args->impl->parameter_files, args->impl->allocator.state);
+      args->impl->num_param_files_args = 0;
+      args->impl->parameter_files = NULL;
+    }
+
     args->impl->allocator.deallocate(args->impl, args->impl->allocator.state);
     args->impl = NULL;
     return ret;

From 18a6ef780bab325915ba522df401d855e88489c0 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Tue, 5 Jun 2018 10:21:23 -0700
Subject: [PATCH 18/18] free memory after tests pass

---
 rcl/test/rcl/test_arguments.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index 7d36673f4..bd28342b2 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -315,6 +315,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
 
   int parameter_filecount = rcl_arguments_get_param_files_count(&parsed_args);
   EXPECT_EQ(0, parameter_filecount);
+  EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
@@ -336,6 +337,12 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
   ret = rcl_arguments_get_param_files(&parsed_args, alloc, &parameter_files);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   EXPECT_STREQ("parameter_filepath", parameter_files[0]);
+
+  for (int i = 0; i < parameter_filecount; ++i) {
+    alloc.deallocate(parameter_files[i], alloc.state);
+  }
+  alloc.deallocate(parameter_files, alloc.state);
+  EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
 TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
@@ -359,4 +366,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   EXPECT_STREQ("parameter_filepath1", parameter_files[0]);
   EXPECT_STREQ("parameter_filepath2", parameter_files[1]);
+  for (int i = 0; i < parameter_filecount; ++i) {
+    alloc.deallocate(parameter_files[i], alloc.state);
+  }
+  alloc.deallocate(parameter_files, alloc.state);
+  EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }