Add support for node parameters

Author: nnmm

rclrs/src/node/builder.rs

@@ -246,7 +246,7 @@ impl NodeBuilder {
                 err,
                 s: self.namespace.clone(),
             })?;
-        let node_options = self.create_node_options()?;
+        let rcl_node_options = self.create_rcl_node_options()?;
         let rcl_context = &mut *self.context.lock();
 
         // SAFETY: Getting a zero-initialized value is always safe.
@@ -261,14 +261,18 @@ impl NodeBuilder {
                 node_name.as_ptr(),
                 node_namespace.as_ptr(),
                 rcl_context,
-                &node_options,
+                &rcl_node_options,
             )
             .ok()?;
         };
 
         let _parameter_map = unsafe {
             let fqn = call_string_getter_with_handle(&rcl_node, rcl_node_get_fully_qualified_name);
-            resolve_parameter_overrides(fqn, &rcl_context.global_arguments)?
+            resolve_parameter_overrides(
+                fqn,
+                &rcl_node_options.arguments,
+                &rcl_context.global_arguments,
+            )?
         };
         let rcl_node_mtx = Arc::new(Mutex::new(rcl_node));
 
@@ -280,15 +284,15 @@ impl NodeBuilder {
         })
     }
 
-    /// Creates node options.
+    /// Creates a rcl_node_options_t struct from this builder.
     ///
     /// Any fields not present in the builder will have their default value.
     /// For detail about default values, see [`NodeBuilder`][1] docs.
     ///
     /// [1]: crate::NodeBuilder
-    fn create_node_options(&self) -> Result<rcl_node_options_t, RclrsError> {
+    fn create_rcl_node_options(&self) -> Result<rcl_node_options_t, RclrsError> {
         // SAFETY: No preconditions for this function.
-        let mut node_options = unsafe { rcl_node_get_default_options() };
+        let mut rcl_node_options = unsafe { rcl_node_get_default_options() };
 
         let cstring_args = self
             .arguments
@@ -307,17 +311,17 @@ impl NodeBuilder {
                 cstring_arg_ptrs.len() as i32,
                 cstring_arg_ptrs.as_ptr(),
                 rcutils_get_default_allocator(),
-                &mut node_options.arguments,
+                &mut rcl_node_options.arguments,
             )
         }
         .ok()?;
 
-        node_options.use_global_arguments = self.use_global_arguments;
-        node_options.enable_rosout = self.enable_rosout;
+        rcl_node_options.use_global_arguments = self.use_global_arguments;
+        rcl_node_options.enable_rosout = self.enable_rosout;
         // SAFETY: No preconditions for this function.
-        node_options.allocator = unsafe { rcutils_get_default_allocator() };
+        rcl_node_options.allocator = unsafe { rcutils_get_default_allocator() };
 
-        Ok(node_options)
+        Ok(rcl_node_options)
     }
 }
 

rclrs/src/parameter/override_map.rs

@@ -109,23 +109,26 @@ pub(crate) type ParameterOverrideMap = BTreeMap<String, ParameterValue>;
 /// sizes or dangling pointers.
 pub(crate) unsafe fn resolve_parameter_overrides(
     node_fqn: String,
+    rcl_node_arguments: &rcl_arguments_t,
     rcl_global_arguments: &rcl_arguments_t,
 ) -> Result<ParameterOverrideMap, RclrsError> {
     let mut map = BTreeMap::new();
-    let mut rcl_params = std::ptr::null_mut();
-    rcl_arguments_get_param_overrides(rcl_global_arguments, &mut rcl_params).ok()?;
-    // Check for the /** node first, and later overwrite with the more specific node
-    // parameters, if they exist
-    for name_to_match in ["/**", node_fqn.as_str()] {
-        for (node_name, node_params) in RclParamsIter::new(rcl_params) {
-            if node_name == name_to_match {
-                for (param_name, variant) in RclNodeParamsIter::new(node_params) {
-                    let value = ParameterValue::from_rcl_variant(variant);
-                    map.insert(param_name, value);
+    for rcl_arguments in [rcl_global_arguments, rcl_node_arguments] {
+        let mut rcl_params = std::ptr::null_mut();
+        rcl_arguments_get_param_overrides(rcl_arguments, &mut rcl_params).ok()?;
+        // Check for the /** node first, and later overwrite with the more specific node
+        // parameters, if they exist
+        for name_to_match in ["/**", node_fqn.as_str()] {
+            for (node_name, node_params) in RclParamsIter::new(rcl_params) {
+                if node_name == name_to_match {
+                    for (param_name, variant) in RclNodeParamsIter::new(node_params) {
+                        let value = ParameterValue::from_rcl_variant(variant);
+                        map.insert(param_name, value);
+                    }
                 }
             }
         }
+        rcl_yaml_node_struct_fini(rcl_params);
     }
-    rcl_yaml_node_struct_fini(rcl_params);
     Ok(map)
 }