launch_config.cpp

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// Aggregates all information needed to start and monitor nodes
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#include "launch_config.h"
#include "substitution.h"
#include "yaml_params.h"
#include "bytes_parser.h"
#include "string_utils.h"

#include <ros/package.h>
#include <ros/names.h>

#include <cctype>
#include <cstdarg>
#include <cstdio>
#include <fstream>

#include <sys/wait.h>

#include <boost/regex.hpp>
#include <boost/algorithm/string/case_conv.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <boost/lexical_cast.hpp>

#include <yaml-cpp/yaml.h>

namespace rosmon
{
namespace launch
{

const char* UNSET_MARKER = "~~~~~ ROSMON-UNSET ~~~~~";

ParseContext ParseContext::enterScope(const std::string& prefix)
{
        ParseContext ret = *this;

        const bool global_prefix = (!prefix.empty() && prefix.front() == '/');
        ret.m_prefix = ros::names::clean(global_prefix ? prefix : (ret.m_prefix + prefix)) + "/";

        return ret;
}

void ParseContext::parseScopeAttributes(TiXmlElement* e, ParseContext& attr_ctx)
{
        if(const char* stopTimeout = e->Attribute("rosmon-stop-timeout"))
        {
                double seconds;
                try
                {
                        seconds = boost::lexical_cast<double>(attr_ctx.evaluate(stopTimeout));
                }
                catch(boost::bad_lexical_cast&)
                {
                        throw error("bad rosmon-stop-timeout value '{}'", stopTimeout);
                }
                if(seconds < 0)
                        throw error("negative rosmon-stop-timeout value '{}'", stopTimeout);

                m_stopTimeout = seconds;
        }

        if(const char* memoryLimit = e->Attribute("rosmon-memory-limit"))
        {
                uint64_t memoryLimitByte;
                bool ok;
                std::tie(memoryLimitByte, ok) = parseMemory(static_cast<std::string>(memoryLimit));
                if(!ok)
                {
                        throw error("{} cannot be parsed as a memory limit", memoryLimit);
                }

                m_memoryLimit = memoryLimitByte;
        }

        if(const char* cpuLimit = e->Attribute("rosmon-cpu-limit"))
        {
                double cpuLimitPct;
                try
                {
                        cpuLimitPct = boost::lexical_cast<double>(attr_ctx.evaluate(cpuLimit));
                }
                catch(boost::bad_lexical_cast&)
                {
                        throw error("bad rosmon-cpu-limit value '{}'", cpuLimit);
                }

                if(cpuLimitPct < 0)
                        throw error("negative rosmon-cpu-limit value'{}'", cpuLimit);

                m_cpuLimit = cpuLimitPct;
        }

        if(const char* coredumpsEnabled = e->Attribute("enable-coredumps"))
        {
                m_coredumpsEnabled = attr_ctx.parseBool(coredumpsEnabled, e->Row());
        }
}

std::string ParseContext::evaluate(const std::string& tpl, bool simplifyWhitespace)
{
        std::string simplified;
        if(simplifyWhitespace)
                simplified = string_utils::simplifyWhitespace(tpl);
        else
                simplified = tpl;

        try
        {
                return parseSubstitutionArgs(simplified, *this);
        }
        catch(SubstitutionException& e)
        {
                throw error("Substitution error: {}", e.what());
        }
}

bool ParseContext::parseBool(const std::string& value, int line)
{
        std::string expansion = evaluate(value);

        // We are lenient here and accept the pythonic forms "True" and "False"
        // as well, since roslaunch seems to do the same. Even the roslaunch/XML
        // spec mentions True/False in the examples, even though they are not
        // valid options for if/unless and other boolean attributes...
        // http://wiki.ros.org/roslaunch/XML/rosparam

        if(expansion == "1" || expansion == "true" || expansion == "True")
                return true;

        if(expansion == "0" || expansion == "false" || expansion == "False")
                return false;

        throw error("Unknown truth value '%s'", expansion.c_str());
}

bool ParseContext::shouldSkip(TiXmlElement* e)
{
        const char* if_cond = e->Attribute("if");
        const char* unless_cond = e->Attribute("unless");

        if(if_cond && unless_cond)
        {
                throw error("both if= and unless= specified, don't know what to do");
        }

        if(if_cond)
        {
                return !parseBool(if_cond, e->Row());
        }

        if(unless_cond)
        {
                return parseBool(unless_cond, e->Row());
        }

        return false;
}

void ParseContext::setArg(const std::string& name, const std::string& value, bool override)
{
        auto it = m_args.find(name);
        if(it == m_args.end())
                m_args[name] = value;
        else if(override || it->second == UNSET_MARKER)
                m_args[name] = value;
}

void ParseContext::setEnvironment(const std::string& name, const std::string& value)
{
        m_environment[name] = value;
}

void ParseContext::setRemap(const std::string& from, const std::string& to)
{
        m_remappings[from] = to;
}

std::string ParseContext::anonName(const std::string& base)
{
        auto it = m_anonNames.find(base);
        if(it == m_anonNames.end())
        {
                auto name = base + "_" + m_config->generateAnonHash();

                it = m_anonNames.emplace(base, name).first;
        }

        return it->second;
}


LaunchConfig::LaunchConfig()
 : m_rootContext(this)
 , m_anonGen(std::random_device()())
{
        const char* ROS_NAMESPACE = getenv("ROS_NAMESPACE");
        if(ROS_NAMESPACE)
        {
                // Someone set ROS_NAMESPACE, we should respect it.
                // This may happen in nested situations, e.g. rosmon launching rosmon.
                m_rootContext = m_rootContext.enterScope(ROS_NAMESPACE);
        }
}

void LaunchConfig::setArgument(const std::string& name, const std::string& value)
{
        m_rootContext.setArg(name, value, true);
}

void LaunchConfig::setDefaultStopTimeout(double timeout)
{
        m_rootContext.setStopTimeout(timeout);
}

void LaunchConfig::setDefaultCPULimit(double CPULimit)
{
        m_rootContext.setCPULimit(CPULimit);
}

void LaunchConfig::setDefaultMemoryLimit(uint64_t memoryLimit)
{
        m_rootContext.setMemoryLimit(memoryLimit);
}

void LaunchConfig::parse(const std::string& filename, bool onlyArguments)
{
        m_rootContext.setFilename(filename);

        TiXmlDocument document(filename);

        TiXmlBase::SetCondenseWhiteSpace(false);

        if(!document.LoadFile())
        {
                throw m_rootContext.error("Could not load launch file: {}", document.ErrorDesc());
        }

        ros::WallTime start = ros::WallTime::now();
        parse(document.RootElement(), &m_rootContext, onlyArguments);

        // Parse top-level rosmon-specific attributes
        parseTopLevelAttributes(document.RootElement());

        if(!onlyArguments)
                fmt::print("Loaded launch file in {:f}s\n", (ros::WallTime::now() - start).toSec());
}

void LaunchConfig::parseString(const std::string& input, bool onlyArguments)
{
        m_rootContext.setFilename("[string]");

        TiXmlDocument document;

        TiXmlBase::SetCondenseWhiteSpace(false);

        document.Parse(input.c_str());

        if(document.Error())
        {
                throw m_rootContext.error("Could not parse string input: {}", document.ErrorDesc());
        }

        ros::WallTime start = ros::WallTime::now();
        parse(document.RootElement(), &m_rootContext, onlyArguments);

        // Parse top-level rosmon-specific attributes
        parseTopLevelAttributes(document.RootElement());

        if(!onlyArguments)
                fmt::print("Loaded launch file in {:f}s\n", (ros::WallTime::now() - start).toSec());
}

void LaunchConfig::applyAutoIncrementSpawnDelayToAll(const ros::WallDuration& autoIncrementSpawnDelay)
{
        ros::WallDuration currentDelay(0, 0);

        for(auto& node : m_nodes)
        {
                if(node->spawnDelay().isZero())
                {
                        node->setSpawnDelay(currentDelay);
                        currentDelay += autoIncrementSpawnDelay;
                }
        }
}

void LaunchConfig::parseTopLevelAttributes(TiXmlElement* element)
{
        const char* name = element->Attribute("rosmon-name");
        if(name)
                m_rosmonNodeName = name;

        const char* windowTitle = element->Attribute("rosmon-window-title");
        if(windowTitle)
                m_windowTitle = windowTitle;

        const char* disableUI = element->Attribute("rosmon-disable-ui");
        if(disableUI)
                m_disableUI = m_rootContext.parseBool(disableUI, element->Row());
}

void LaunchConfig::parse(TiXmlElement* element, ParseContext* ctx, bool onlyArguments)
{
        ctx->parseScopeAttributes(element, *ctx);

        // First pass: Parse arguments
        for(TiXmlNode* n = element->FirstChild(); n; n = n->NextSibling())
        {
                TiXmlElement* e = n->ToElement();
                if(!e)
                        continue;

                if(ctx->shouldSkip(e))
                        continue;

                ctx->setCurrentElement(e);

                if(e->ValueStr() == "arg")
                        parseArgument(e, *ctx);
        }

        if(onlyArguments)
                return;

        // Second pass: everything else
        for(TiXmlNode* n = element->FirstChild(); n; n = n->NextSibling())
        {
                TiXmlElement* e = n->ToElement();
                if(!e)
                        continue;

                if(ctx->shouldSkip(e))
                        continue;

                ctx->setCurrentElement(e);

                if(e->ValueStr() == "node")
                        parseNode(e, *ctx);
                else if(e->ValueStr() == "param")
                        parseParam(e, *ctx);
                else if(e->ValueStr() == "rosparam")
                        parseROSParam(e, *ctx);
                else if(e->ValueStr() == "group")
                {
                        ParseContext cctx = *ctx;

                        if(const char* ns = e->Attribute("ns"))
                                cctx = cctx.enterScope(ctx->evaluate(ns));

                        cctx.parseScopeAttributes(e, *ctx);

                        parse(e, &cctx);
                }
                else if(e->ValueStr() == "include")
                        parseInclude(e, *ctx);
                else if(e->ValueStr() == "env")
                        parseEnv(e, *ctx);
                else if(e->ValueStr() == "remap")
                        parseRemap(e, *ctx);
        }
}

void LaunchConfig::parseNode(TiXmlElement* element, ParseContext& attr_ctx)
{
        const char* name = element->Attribute("name");
        const char* pkg = element->Attribute("pkg");
        const char* type = element->Attribute("type");
        const char* args = element->Attribute("args");
        const char* ns = element->Attribute("ns");
        const char* respawn = element->Attribute("respawn");
        const char* respawnDelay = element->Attribute("respawn_delay");
        const char* nRespawnsAllowed = element->Attribute("rosmon-restart-warn-threshold");
        const char* required = element->Attribute("required");
        const char* launchPrefix = element->Attribute("launch-prefix");
        const char* cwd = element->Attribute("cwd");
        const char* clearParams = element->Attribute("clear_params");
        const char* output = element->Attribute("output");
        const char* spawnDelay = element->Attribute("rosmon-spawn-delay");

        if(!name || !pkg || !type)
        {
                throw attr_ctx.error("name, pkg, type are mandatory for node elements!");
        }

        // Attributes are evaluated *outside* of the node context, so keep that one
        ParseContext ctx = attr_ctx;

        if(ns)
                ctx = ctx.enterScope(ctx.evaluate(ns));

        std::string fullNamespace = ctx.prefix().substr(0, ctx.prefix().length()-1);

        // Enter scope
        ctx = ctx.enterScope(ctx.evaluate(name));

        // Parse scoped attributes such as rosmon-stop-timeout
        ctx.parseScopeAttributes(element, attr_ctx);

        Node::Ptr node = std::make_shared<Node>(
                attr_ctx.evaluate(name), attr_ctx.evaluate(pkg), attr_ctx.evaluate(type)
        );

        // Check name uniqueness
        {
                auto it = std::find_if(m_nodes.begin(), m_nodes.end(), [&](const Node::Ptr& n) {
                        return n->namespaceString() == fullNamespace && n->name() == node->name();
                });

                if(it != m_nodes.end())
                {
                        throw ctx.error("node name '{}' is not unique", node->name());
                }
        }

        node->setStopTimeout(ctx.stopTimeout());
        node->setMemoryLimit(ctx.memoryLimit());
        node->setCPULimit(ctx.cpuLimit());
        node->setCoredumpsEnabled(ctx.coredumpsEnabled());

        if(args)
                node->addExtraArguments(ctx.evaluate(args));

        if(!fullNamespace.empty())
                node->setNamespace(fullNamespace);

        if(respawn)
        {
                node->setRespawn(attr_ctx.parseBool(respawn, element->Row()));

                if(respawnDelay)
                {
                        double seconds;
                        try
                        {
                                seconds = boost::lexical_cast<double>(attr_ctx.evaluate(respawnDelay));
                        }
                        catch(boost::bad_lexical_cast&)
                        {
                                throw ctx.error("bad respawn_delay value '{}'", respawnDelay);
                        }

                        node->setRespawnDelay(ros::WallDuration(seconds));
                }

                if (nRespawnsAllowed)
                {
                        int n_respawns;
                        try
                        {
                                n_respawns = boost::lexical_cast<int>(attr_ctx.evaluate(nRespawnsAllowed));
                        }
                        catch(boost::bad_lexical_cast&)
                        {
                                throw ctx.error("bad rosmon-restart-warn-threshold value '{}'", nRespawnsAllowed);
                        }

                        node->setNumRespawnsAllowed(n_respawns);
                }
        }

        if(spawnDelay)
        {
                double seconds;
                try
                {
                        seconds = boost::lexical_cast<double>(attr_ctx.evaluate(spawnDelay));
                }
                catch(boost::bad_lexical_cast&)
                {
                        throw ctx.error("bad spawn_delay value '{}'", spawnDelay);
                }

                node->setSpawnDelay(ros::WallDuration(seconds));
        }

        if(required && attr_ctx.parseBool(required, element->Row()))
        {
                node->setRequired(true);
        }

        // We have to parse rosparam tags first, see #118
        for(TiXmlNode* n = element->FirstChild(); n; n = n->NextSibling())
        {
                TiXmlElement* e = n->ToElement();
                if(!e)
                        continue;

                if(ctx.shouldSkip(e))
                        continue;

                ctx.setCurrentElement(e);

                if(e->ValueStr() == "rosparam")
                        parseROSParam(e, ctx);
        }

        // Now we can parse everything else.
        for(TiXmlNode* n = element->FirstChild(); n; n = n->NextSibling())
        {
                TiXmlElement* e = n->ToElement();
                if(!e)
                        continue;

                if(ctx.shouldSkip(e))
                        continue;

                ctx.setCurrentElement(e);

                if(e->ValueStr() == "param")
                        parseParam(e, ctx, PARAM_IN_NODE);
                else if(e->ValueStr() == "remap")
                        parseRemap(e, ctx);
                else if(e->ValueStr() == "env")
                        parseEnv(e, ctx);
        }

        ctx.setCurrentElement(element);

        // Set environment *after* parsing the node children (may contain env tags)
        node->setExtraEnvironment(ctx.environment());

        if(launchPrefix)
                node->setLaunchPrefix(attr_ctx.evaluate(launchPrefix));

        if(cwd)
                node->setWorkingDirectory(attr_ctx.evaluate(cwd));

        if(clearParams)
                node->setClearParams(attr_ctx.parseBool(clearParams, element->Row()));

        if(m_outputAttrMode == OutputAttr::Obey)
        {
                node->setStdoutDisplayed(false); // output=log is default
        }

        if(output)
        {
                std::string outputStr = attr_ctx.evaluate(output);
                if(outputStr == "screen")
                        node->setStdoutDisplayed(true);
                else if(outputStr == "log")
                        node->setStdoutDisplayed(false);
                else
                        throw ctx.error("Invalid output attribute value: '{}'", outputStr);
        }

        node->setRemappings(ctx.remappings());

        m_nodes.push_back(node);
}

static XmlRpc::XmlRpcValue autoXmlRpcValue(const std::string& fullValue)
{
        std::string fullValueLowercase = boost::algorithm::to_lower_copy(fullValue);
        if(fullValueLowercase == "true")
                return XmlRpc::XmlRpcValue(true);
        else if(fullValueLowercase == "false")
                return XmlRpc::XmlRpcValue(false);
        else
        {
                try { return boost::lexical_cast<int>(fullValue); }
                catch(boost::bad_lexical_cast&) {}

                try { return boost::lexical_cast<double>(fullValue); }
                catch(boost::bad_lexical_cast&) {}

                return fullValue;
        }
}

void LaunchConfig::parseParam(TiXmlElement* element, ParseContext& ctx, ParamContext paramContext)
{
        const char* name = element->Attribute("name");
        const char* value = element->Attribute("value");
        const char* command = element->Attribute("command");
        const char* textfile = element->Attribute("textfile");
        const char* binfile = element->Attribute("binfile");
        const char* type = element->Attribute("type");

        if(!name)
        {
                throw ctx.error("name is mandatory for param elements");
        }

        int numCommands = (value ? 1 : 0) + (command ? 1 : 0) + (textfile ? 1 : 0) + (binfile ? 1 : 0);
        if(numCommands > 1) // == 0 is checked below, don't duplicate.
        {
                throw ctx.error("<param> tags need exactly one of value=, command=, textfile=, binfile= attributes.");
        }

        std::string fullName = ctx.evaluate(name);
        if(fullName.empty())
        {
                throw ctx.error("param name is empty");
        }

        // Expand relative paths. roslaunch ignores leading / when inside a
        // <node> tag - god only knows why.
        if(fullName[0] != '/' || paramContext == PARAM_IN_NODE)
        {
                // Same with "/" (see above)
                if(paramContext == PARAM_IN_NODE && fullName[0] == '/')
                {
                        ctx.warning("leading slashes in <param> names are ignored inside <node> contexts for roslaunch compatibility.");
                        fullName = fullName.substr(1);
                }
                else if(fullName[0] == '~')
                {
                        // We silently ignore "~" at the beginning of the name
                        fullName = fullName.substr(1);
                }

                fullName = ctx.prefix() + fullName;
        }

        std::string errorStr;
        if(!ros::names::validate(fullName, errorStr))
        {
                throw ctx.error("Expanded parameter name '{}' is invalid: {}",
                        fullName, errorStr
                );
        }

        std::string fullType;
        if(type)
                fullType = ctx.evaluate(type);

        if(value)
        {
                // Simple case - immediate value.
                if(fullType == "yaml")
                {
                        std::string fullValue = ctx.evaluate(value, false);

                        YAML::Node n;
                        try
                        {
                                n = YAML::Load(fullValue);
                        }
                        catch(YAML::ParserException& e)
                        {
                                throw ctx.error("Invalid YAML: {}", e.what());
                        }

                        loadYAMLParams(ctx, n, fullName);
                }
                else
                {
                        // Note: roslaunch strips leading/trailing whitespace of all simple
                        // parameters. Furthermore, line feeds and tabs are replaced with
                        // space characters.
                        m_params[fullName] = paramToXmlRpc(ctx,
                                string_utils::convertWhitespace(
                                        string_utils::strip(ctx.evaluate(value, false))
                                ),
                                fullType
                        );

                        // A dynamic parameter of the same name gets overwritten now
                        m_paramJobs.erase(fullName);
                }

                return;
        }

        if(binfile)
        {
                // Also simple - binary files are always mapped to base64 XmlRpcValue.

                std::string fullFile = ctx.evaluate(binfile);

                m_paramJobs[fullName] = std::async(std::launch::deferred,
                        [=]() -> XmlRpc::XmlRpcValue {
                                std::ifstream stream(fullFile, std::ios::binary | std::ios::ate);
                                if(!stream)
                                        throw ctx.error("Could not open file '{}'", fullFile);

                                std::vector<char> data(stream.tellg(), 0);
                                stream.seekg(0, std::ios::beg);

                                stream.read(data.data(), data.size());

                                // Creates base64 XmlRpcValue
                                return {data.data(), static_cast<int>(data.size())};
                        }
                );

                m_params.erase(fullName);
                return;
        }

        // Dynamic parameters are more complicated. We split the computation in
        // two parts:
        //  1) Compute the value as std::string
        //  2) Convert to desired type (or dissect into multiple parameters in
        //     case of YAML-typed parameters).

        auto computeString = std::make_shared<std::future<std::string>>();

        // On ROS < Lunar, type="..." is not respected for command= and textfile=
        // attributes. We support that anyway, but print a nice warning for users.
        // See GH issue #138.

#if !ROS_VERSION_MINIMUM(1,13,0)
        if(type)
        {
                ctx.warning(
                        "On ROS versions prior to Lunar, roslaunch does not respect the "
                        "type attribute on <param> tags with command= or textfile= "
                        "actions. However, rosmon does support it and will create the "
                        "properly typed parameter {}.",
                        fullName
                );
        }
#endif

        if(command)
        {
                // Run a command and retrieve the results.
                std::string fullCommand = ctx.evaluate(command);

                // Commands may take a while - that is why we use std::async here.
                *computeString = std::async(std::launch::deferred,
                        [=]() -> std::string {
                                std::stringstream buffer;

                                int pipe_fd[2];
                                if(pipe(pipe_fd) != 0)
                                        throw ctx.error("Could not create pipe: {}", strerror(errno));

                                int pid = fork();
                                if(pid < 0)
                                        throw ctx.error("Could not fork: {}", strerror(errno));

                                if(pid == 0)
                                {
                                        // Child
                                        close(pipe_fd[0]);
                                        if(pipe_fd[1] != STDOUT_FILENO)
                                        {
                                                dup2(pipe_fd[1], STDOUT_FILENO);
                                                close(pipe_fd[1]);
                                        }

                                        char* argp[] = {strdup("sh"), strdup("-c"), strdup(fullCommand.c_str()), nullptr};

                                        execvp("sh", argp); // should never return
                                        throw ctx.error("Could not execvp '{}': {}", fullCommand, strerror(errno));
                                }

                                close(pipe_fd[1]);

                                timeval timeout;
                                memset(&timeout, 0, sizeof(timeout));
                                timeout.tv_sec = 0;
                                timeout.tv_usec = 500 * 1000;

                                while(true)
                                {
                                        fd_set fds;
                                        FD_ZERO(&fds);
                                        FD_SET(pipe_fd[0], &fds);

                                        int ret = select(pipe_fd[0]+1, &fds, nullptr, nullptr, &timeout);
                                        if(ret < 0)
                                                throw ctx.error("Could not select(): {}", strerror(errno));

                                        if(ret == 0)
                                        {
                                                fmt::print("Still loading parameter '{}'...\n", fullName);

                                                timeout.tv_sec = 3;
                                                continue;
                                        }

                                        char buf[1024];
                                        ret = read(pipe_fd[0], buf, sizeof(buf)-1);
                                        if(ret < 0)
                                                throw ctx.error("Could not read: {}", strerror(errno));
                                        if(ret == 0)
                                                break;

                                        buf[ret] = 0;
                                        buffer << buf;
                                }

                                close(pipe_fd[0]);

                                int status = 0;
                                if(waitpid(pid, &status, 0) < 0)
                                        throw ctx.error("Could not waitpid(): {}", strerror(errno));

                                if(!WIFEXITED(status) || WEXITSTATUS(status) != 0)
                                {
                                        throw ctx.error("<param> command failed (exit status {})",
                                                WEXITSTATUS(status)
                                        );
                                }

                                return buffer.str();
                        }
                );

                // A fixed parameter of the same name gets overwritten now
                m_params.erase(fullName);
        }
        else if(textfile)
        {
                std::string fullFile = ctx.evaluate(textfile);

                *computeString = std::async(std::launch::deferred,
                        [=]() -> std::string {
                                std::ifstream stream(fullFile);
                                if(!stream)
                                        throw ctx.error("Could not open file '{}'", fullFile);

                                std::stringstream buffer;
                                buffer << stream.rdbuf();

                                return buffer.str();
                        }
                );
        }
        else
        {
                throw ctx.error("<param> needs either command, value, binfile, or textfile");
        }

        if(fullType == "yaml")
        {
                m_yamlParamJobs.push_back(std::async(std::launch::deferred,
                        [=]() -> YAMLResult {
                                std::string yamlString = computeString->get();

                                YAML::Node n;
                                try
                                {
                                        n = YAML::Load(yamlString);
                                }
                                catch(YAML::ParserException& e)
                                {
                                        throw ctx.error("Read invalid YAML from process or file: {}",
                                                e.what()
                                        );
                                }

                                return {fullName, n};
                        }
                ));
        }
        else
        {
                m_paramJobs[fullName] = std::async(std::launch::deferred,
                        [=]() -> XmlRpc::XmlRpcValue {
                                return paramToXmlRpc(ctx, computeString->get(), fullType);
                        }
                );

                // A fixed parameter of the same name gets overwritten now
                m_params.erase(fullName);
        }
}

XmlRpc::XmlRpcValue LaunchConfig::paramToXmlRpc(const ParseContext& ctx, const std::string& value, const std::string& type)
{
        if(type.empty())
                return autoXmlRpcValue(value);

        // Fixed type.
        try
        {
                if(type == "int")
                        return boost::lexical_cast<int>(string_utils::strip(value));
                else if(type == "double")
                        return boost::lexical_cast<double>(string_utils::strip(value));
                else if(type == "bool" || type == "boolean")
                {
                        std::string value_lowercase = boost::algorithm::to_lower_copy(
                                string_utils::strip(value)
                        );

                        if(value_lowercase == "true")
                                return true;
                        else if(value_lowercase == "false")
                                return false;
                        else
                                throw ctx.error("invalid boolean value '{}'", value);
                }
                else if(type == "str" || type == "string")
                        return value;
                else
                {
                        throw ctx.error("invalid param type '{}'", type);
                }
        }
        catch(boost::bad_lexical_cast& e)
        {
                throw ctx.error("could not convert param value '{}' to type '{}'",
                        value, type
                );
        }
}

void LaunchConfig::parseROSParam(TiXmlElement* element, ParseContext& ctx)
{
        const char* command = element->Attribute("command");

        if(!command || strcmp(command, "load") == 0)
        {
                const char* file = element->Attribute("file");
                std::string fullFile;

                std::string contents;
                if(file)
                {
                        fullFile = ctx.evaluate(file);
                        std::ifstream stream(fullFile);
                        if(!stream)
                                throw ctx.error("Could not open file '{}'", fullFile);

                        std::stringstream buffer;
                        buffer << stream.rdbuf();

                        contents = buffer.str();
                }
                else
                {
                        if(const char* t = element->GetText())
                                contents = t;
                }

                // roslaunch silently ignores empty files (which are not valid YAML),
                // so do the same here.
                if(string_utils::isOnlyWhitespace(contents))
                        return;

                const char* subst_value = element->Attribute("subst_value");
                if(subst_value && ctx.parseBool(subst_value, element->Row()))
                        contents = ctx.evaluate(contents, false);

                YAML::Node n;
                try
                {
                        n = YAML::Load(contents);
                }
                catch(YAML::ParserException& e)
                {
                        throw ctx.error("Could not parse YAML: {}", e.what());
                }

                ParseContext nameContext = ctx;
                const char* ns = element->Attribute("ns");
                if(ns)
                        nameContext = nameContext.enterScope(ctx.evaluate(ns));

                const char* name = element->Attribute("param");
                if(name)
                        nameContext = nameContext.enterScope(ctx.evaluate(name));

                // Remove trailing / from prefix to get param name
                try
                {
                        loadYAMLParams(ctx, n, nameContext.prefix().substr(0, nameContext.prefix().length()-1));
                }
                catch(ParseException& e)
                {
                        if(file)
                        {
                                throw ctx.error("error while parsing rosparam input file {}: {}",
                                        fullFile, e.what()
                                );
                        }
                        else
                        {
                                throw ctx.error("error while parsing YAML input from launch file: {}",
                                        e.what()
                                );
                        }
                }
        }
        else
                throw ctx.error("Unsupported rosparam command '{}'", command);
}

void LaunchConfig::loadYAMLParams(const ParseContext& ctx, const YAML::Node& n, const std::string& prefix)
{
        switch(n.Type())
        {
                case YAML::NodeType::Map:
                {
                        // Pass 1: Load any anchor references
                        for(YAML::const_iterator it = n.begin(); it != n.end(); ++it)
                        {
                                if(it->first.as<std::string>() == "<<")
                                {
                                        loadYAMLParams(ctx, it->second, prefix);
                                }
                        }

                        // Pass 2: Everything else.
                        for(YAML::const_iterator it = n.begin(); it != n.end(); ++it)
                        {
                                auto key = it->first.as<std::string>();
                                if(key != "<<")
                                {
                                        // Load "global" params without prefix (see #130)
                                        if(!key.empty() && key[0] == '/')
                                                loadYAMLParams(ctx, it->second, key);
                                        else
                                                loadYAMLParams(ctx, it->second, prefix + "/" + it->first.as<std::string>());
                                }
                        }

                        break;
                }
                case YAML::NodeType::Sequence:
                case YAML::NodeType::Scalar:
                {
                        m_params[prefix] = yamlToXmlRpc(ctx, n);

                        // A dynamic parameter of the same name gets overwritten now
                        m_paramJobs.erase(prefix);
                        break;
                }
                case YAML::NodeType::Null:
                {
                        // Nothing to do, empty node
                        break;
                }
                default:
                {
                        throw ctx.error("invalid yaml node type");
                }
        }
}

void LaunchConfig::parseInclude(TiXmlElement* element, ParseContext& ctx)
{
        const char* file = element->Attribute("file");
        const char* ns = element->Attribute("ns");
        const char* passAllArgs = element->Attribute("pass_all_args");
        const char* clearParams = element->Attribute("clear_params");
        const char* importArgs = element->Attribute("rosmon-import-args");

        if(!file)
                throw ctx.error("<include> file attribute is mandatory");

        if(clearParams && ctx.parseBool(clearParams, element->Row()))
        {
                throw ctx.error("<include clear_params=\"true\" /> is not supported and probably a bad idea.");
        }

        std::string fullFile = ctx.evaluate(file);

        ParseContext childCtx = ctx;
        if(ns)
                childCtx = childCtx.enterScope(ctx.evaluate(ns));

        // Parse any arguments
        childCtx.parseScopeAttributes(element, ctx);

        // If pass_all_args is not set, delete the current arguments.
        if(!passAllArgs || !ctx.parseBool(passAllArgs, element->Row()))
                childCtx.clearArguments();

        // Now set all explicitly mentioned arguments.
        for(TiXmlNode* n = element->FirstChild(); n; n = n->NextSibling())
        {
                TiXmlElement* e = n->ToElement();
                if(!e)
                        continue;

                if(ctx.shouldSkip(e))
                        continue;

                if(e->ValueStr() == "arg")
                {
                        const char* name = e->Attribute("name");
                        const char* value = e->Attribute("value");
                        const char* defaultValue = e->Attribute("default");

                        if(!name)
                                throw ctx.error("<arg> inside include needs a name attribute");

                        if(!value && defaultValue)
                        {
                                // roslaunch allows this - god knows why.
                                ctx.warning(
                                        "You are using <arg> inside an <include> tag with the "
                                        "default=XY attribute - which is superfluous. "
                                        "Use value=XY instead for less confusion. "
                                        "Attribute name: {}",
                                        name
                                );
                                value = defaultValue;
                        }

                        if(!name || !value)
                                throw ctx.error("<arg> inside include needs name and value");

                        childCtx.setArg(ctx.evaluate(name), ctx.evaluate(value), true);
                }
        }

        TiXmlDocument document(fullFile);
        if(!document.LoadFile())
                throw ctx.error("Could not load launch file '{}': {}", fullFile, document.ErrorDesc());

        childCtx.setFilename(fullFile);

        parse(document.RootElement(), &childCtx);

        // Import args from child context if requested
        if(importArgs && ctx.parseBool(importArgs, element->Row()))
        {
                for(auto& pair : childCtx.arguments())
                        ctx.setArg(pair.first, pair.second, true);
        }
}

void LaunchConfig::parseArgument(TiXmlElement* element, ParseContext& ctx)
{
        const char* name = element->Attribute("name");
        const char* value = element->Attribute("value");
        const char* def = element->Attribute("default");

        if(!name)
                throw ctx.error("<arg> needs name attribute");

        if(value)
        {
                std::string fullValue = ctx.evaluate(value);
                ctx.setArg(name, fullValue, true);
        }
        else if(def)
        {
                std::string fullValue = ctx.evaluate(def);
                ctx.setArg(name, fullValue, false);
        }
        else
        {
                ctx.setArg(name, UNSET_MARKER, false);
        }
}

void LaunchConfig::parseEnv(TiXmlElement* element, ParseContext& ctx)
{
        const char* name = element->Attribute("name");
        const char* value = element->Attribute("value");

        if(!name || !value)
                throw ctx.error("<env> needs name, value attributes");

        ctx.setEnvironment(ctx.evaluate(name), ctx.evaluate(value));
}

void LaunchConfig::parseRemap(TiXmlElement* element, ParseContext& ctx)
{
        const char* from = element->Attribute("from");
        const char* to = element->Attribute("to");

        if(!from || !to)
                throw ctx.error("remap needs 'from' and 'to' arguments");

        ctx.setRemap(ctx.evaluate(from), ctx.evaluate(to));
}

std::string LaunchConfig::generateAnonHash()
{
        return fmt::format("{:08X}", m_anonGen());
}

template<class Iterator>
void safeAdvance(Iterator& it, const Iterator& end, size_t i)
{
        for(size_t j = 0; j < i; ++j)
        {
                if(it == end)
                        return;
                ++it;
        }
}

void LaunchConfig::evaluateParameters()
{
        // This function is optimized for speed, since we usually have a lot of
        // parameters and some of those take time (>2s) to compute and upload
        // (e.g. xacro).

        // The optimization is two-fold: we use std::future to avoid useless
        // computations of parameters which are re-set later on anyways, and
        // we use a thread pool to evaluate the futures below.

        const int NUM_THREADS = std::thread::hardware_concurrency();

        std::vector<std::thread> threads(NUM_THREADS);

        std::mutex mutex;

        bool caughtExceptionFlag = false;
        ParseException caughtException("");

        for(int i = 0; i < NUM_THREADS; ++i)
        {
                threads[i] = std::thread([this,i,NUM_THREADS,&mutex,&caughtException,&caughtExceptionFlag]() {
                        try
                        {
                                // Thread number i starts at position i and moves in NUM_THREADS
                                // increments.
                                auto it = m_paramJobs.begin();
                                safeAdvance(it, m_paramJobs.end(), i);

                                while(it != m_paramJobs.end())
                                {
                                        XmlRpc::XmlRpcValue val = it->second.get();
                                        {
                                                std::lock_guard<std::mutex> guard(mutex);
                                                m_params[it->first] = val;
                                        }
                                        safeAdvance(it, m_paramJobs.end(), NUM_THREADS);
                                }

                                // YAML parameters have to be handled separately, since we may need
                                // to splice them into individual XmlRpcValues.
                                auto yamlIt = m_yamlParamJobs.begin();
                                safeAdvance(yamlIt, m_yamlParamJobs.end(), i);

                                while(yamlIt != m_yamlParamJobs.end())
                                {
                                        YAMLResult yaml = yamlIt->get();
                                        {
                                                std::lock_guard<std::mutex> guard(mutex);
                                                loadYAMLParams(m_rootContext, yaml.yaml, yaml.name);
                                        }
                                        safeAdvance(yamlIt, m_yamlParamJobs.end(), NUM_THREADS);
                                }
                        }
                        catch(ParseException& e)
                        {
                                std::lock_guard<std::mutex> guard(mutex);
                                caughtException = e;
                                caughtExceptionFlag = true;
                        }
                });
        }

        // and wait for completion for the threads.
        for(auto& t : threads)
                t.join();

        if(caughtExceptionFlag)
                throw caughtException;

        m_paramJobs.clear();
}

void LaunchConfig::setOutputAttrMode(OutputAttr mode)
{
        m_outputAttrMode = mode;
}

void LaunchConfig::setWarningOutput(std::ostream* output)
{
        m_warningOutput = output;
}

void LaunchConfig::setNodeLogDir(const std::string& dir)
{
        m_nodeLogDir = dir;
}

}
}