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utilities.cpp
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64 lines (57 loc) · 1.96 KB
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// 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/detail/utilities.hpp"
#include <cassert>
#include <string>
#include <utility>
#include <vector>
#include "rclcpp/exceptions.hpp"
#include "rcl/allocator.h"
#include "rcl/arguments.h"
namespace rclcpp
{
namespace detail
{
std::vector<std::string>
get_unparsed_ros_arguments(
int argc, char const * const argv[],
rcl_arguments_t * arguments,
rcl_allocator_t allocator)
{
(void)argc;
std::vector<std::string> unparsed_ros_arguments;
int unparsed_ros_args_count = rcl_arguments_get_count_unparsed_ros(arguments);
if (unparsed_ros_args_count > 0) {
int * unparsed_ros_args_indices = nullptr;
rcl_ret_t ret =
rcl_arguments_get_unparsed_ros(arguments, allocator, &unparsed_ros_args_indices);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get unparsed ROS arguments");
}
try {
for (int i = 0; i < unparsed_ros_args_count; ++i) {
assert(unparsed_ros_args_indices[i] >= 0);
assert(unparsed_ros_args_indices[i] < argc);
unparsed_ros_arguments.push_back(argv[unparsed_ros_args_indices[i]]);
}
allocator.deallocate(unparsed_ros_args_indices, allocator.state);
} catch (...) {
allocator.deallocate(unparsed_ros_args_indices, allocator.state);
throw;
}
}
return unparsed_ros_arguments;
}
} // namespace detail
} // namespace rclcpp