.. program:: common
Unless stated otherwise, the following commandline options are accepted by all tools:
.. option:: --version Print version information and exit.
.. option:: --help, -h Print this help and exit.
.. option:: --help-for THING
Print help for :samp:`{THING}` and exit. This option can be
specified multiple times.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --info-stream STREAM-NAME
Stream to which information messages should be sent. Allowed
values for :samp:`{STREAM-NAME}`: ``stdout``, ``standard-output``,
``stderr``, ``error-output``, ``none``. Default info stream is:
``error-output``
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --log-level LEVEL
Controls the amount of generated log output. Allowed values for
:samp:`{LEVEL}`: ``off``, ``trace``, ``info``, ``warn`` and
``error``. Default log level is ``warn``.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --trace SPEC
Trace specified things. This option can be supplied multiple times
to trace multiple things. Each occurrence takes an individual
:samp:`{SPEC}` which has to have one of the following forms:
``"PACKAGE"``
Trace all functions in the package named :samp:`{PACKAGE}`.
.. note::
The double quotes and uppercase.
``FUNCTION-NAME``
Trace the function named :samp:`{FUNCTION-NAME}`.
.. note::
No quotes, actual case of the function name.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --debug
Enable debugging. This does the following things:
* Set the log level such that debug output is emitted
* Enable printing backtraces instead of just condition reports in
case of unhandled error conditions
* Optionally, application-specific debugging
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --swank
Start a `slime`_ listener. Swank will print the port it listens
on. In addition, a file named :file:`./swank-port.txt` containing
the port number is written.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --eval SEXP
Evaluate :samp:`{SEXP}` as Lisp code. This option can be supplied
multiple times. Code fragments are evaluated in the order in which
they appear on the commandline.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --load FILE
Load :samp:`{FILE}`. This option can be supplied multiple
times. Files are loaded in the order in which they appear on the
commandline.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --on-error
Specifies the high-level policy for handling errors. Possible
policies are:
abort
Save and cleanup as much as possible, then terminate with
unsuccessful result indication.
continue
Try to recover from errors and produce best-effort results.
.. warning::
This policy should only be used when the ongoing execution of
some program is most important since it can lead to errors
being overlooked.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --idl-path DIRECTORIES, -I DIRECTORIES
:samp:`{DIRECTORIES}` is a list of ``:``\ -separated directory
names from which data definitions should be loaded. This option can
be supplied multiple times.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --load-idl FILE-OR-GLOB-EXPRESSION, -l FILE-OR-GLOB-EXPRESSION
Load data definition from :samp:`{FILE-OR-GLOB-EXPRESSION}`. If a
glob expression is specified, in addition to the canonical globbing
syntax, expressions of the form::
SOMESTUFF/**/MORESTUFF
can be used to search directories recursively. If the file
designated by :samp:`{FILE-OR-GLOB-EXPRESSION}` depend on
additional data definition files (i.e. contain ``import``
statements), the list of directories supplied via the
:option:`--idl-path` option is consulted to find these files. This
option can be supplied multiple times.
.. note::
This option is only available in the Common Lisp implementation.
.. option:: --on-demand-idl-loading BEHAVIOR
Controls on-demand loading of required data definitions.
none
Do not attempt to load data definitions on demand.
blocking
Block computations requiring data definitions until the
respective definition has been loaded and processed.
Data definition files are located on the path specified using the
:option:`--idl-path` option.
.. note::
This option is only available in the Common Lisp implementation.
Configuration Debugging
.. seealso:: :ref:`specification-config-debug` Details about configuration debugging.. envvar:: RSB_CONFIG_DEBUG When set to any value, activates :ref:`configuration debugging <specification-config-debug>`... envvar:: RSB_CONFIG_FILES When set, changes the list of :ref:`configuration files <specification-config-effective-configuration>` |project| tries to load.
Plugins
.. seealso:: :ref:`specification-plugin` Details about :term:`plugins <plugin>`.. envvar:: RSB_PLUGINS_CPP_PATH A list of ``:``-separated directory names which should be searched to locate |project| :term:`plugins <plugin>`. Default value: :samp:`{INSTALL-PREFIX}/lib/rsb{VERSION}/plugins`... envvar:: RSB_PLUGINS_CPP_LOAD A list of ``:``-separated :term:`plugin` names which should be loaded during |project| initialization. Example: ``RSB_PLUGINS_CPP_LOAD=rsbspread``TODO other languages
In-process Transport
.. seealso:: :ref:`specification-inprocess` Details about the inprocess :term:`transport`.. envvar:: RSB_TRANSPORT_INPROCESS_ENABLED ``1``: Enable in-process :term:`transport` in this process; ``0``: Disable in-process :term:`transport` in this process.
Spread Transport
.. seealso:: :ref:`specification-spread` Details about the :term:`Spread` :term:`transport`.. envvar:: RSB_TRANSPORT_SPREAD_ENABLED ``1``: Enable :term:`Spread` :term:`transport` in this process. ``0``: Disable :term:`Spread` :term:`transport` in this process... envvar:: RSB_TRANSPORT_SPREAD_HOST Name or IP-address of the machine running the :term:`Spread daemon`. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_SPREAD_PORT Port on which the :term:`Spread daemon` listens. Allowed values: a port number, i.e. an integer in the range [1, 65535].
TCP-socket-based Transport
.. seealso:: :ref:`specification-socket` Details about the socket :term:`transport`.. envvar:: RSB_TRANSPORT_SOCKET_ENABLED ``1``: Enable TCP-socket-based :term:`transport` in this process. ``0``: Disable TCP-socket-based :term:`transport` in this process... envvar:: RSB_TRANSPORT_SOCKET_HOST Name or IP-address of the machine running the |project| TCP-socket-based server component. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_SOCKET_PORT Port on which the |project| TCP-socket-based server component listens. Allowed values: a port number, i.e. an integer in the range [1, 65535]... envvar:: RSB_TRANSPORT_SOCKET_SERVER ``1``: This process should act as the |project| TCP-socket-based server component. ``0``: This process should connect to the TCP-socket-based server. ``auto``: This process should try to determine whether there already is a TCP-socket-based server for the configured host-port combination and act as a server or client accordingly. .. warning:: Generally, the "auto" option only works and makes sense for setups confined to a single computer. For details of the underlying mechanism, see :ref:`specification-socket-addresses-and-ports`... envvar:: RSB_TRANSPORT_SOCKET_TCPNODELAY ``1``: The ``TCP_NODELAY`` flag should be used to trade reduced latency for (potentially) decreased throughput. ``0``: The ``TCP_NODELAY`` flag should not be used.
TCP `YARP`_ Transport
.. seealso:: :ref:`specification-tcpyarp` Details about the `YARP`_ :term:`transport` **without** nameservice operationsNote
This :term:`transport` is currently available in the C++ and Common Lisp implementations of |project|.
Note
The URL schema for this :term:`transport` is
tcp+yarpwhich is mapped toTCP_YARP(note the underscore) in environment variable names... envvar:: RSB_TRANSPORT_TCP_YARP_ENABLED ``1``: enable low-level TCP `YARP`_ :term:`transport` in this process. ``0``: disable the :term:`transport` in this process... envvar:: RSB_TRANSPORT_TCP_YARP_HOST Name or IP-address of the `YARP`_ port to which a connection should be established. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_TCP_YARP_PORT TCP port of the `YARP`_ port to which a connection should be established. Allowed values: a port number, i.e. an integer in the range [1, 65535].
`YARP`_ Transport with Nameservice Lookup
.. seealso:: :ref:`specification-yarp-nameservice` Details about the `YARP`_ :term:`transport` **with** nameservice operationsNote
This :term:`transport` is currently only available in the Common Lisp implementations of |project|.
.. envvar:: RSB_TRANSPORT_YARP_ENABLED ``1``: enable `YARP`_ :term:`transport` with nameservice lookup in this process. ``0``: disable the :term:`transport` in this process... envvar:: RSB_TRANSPORT_YARP_HOST Name or IP-address of the `YARP`_ **nameserver**. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_YARP_PORT TCP port on which the `YARP`_ **nameserver** listens. Allowed values: a port number, i.e. an integer in the range [1, 65535].
TCP ROS Transport
.. seealso:: :ref:`specification-tcpros` Details about the `ROS`_ :term:`transport` **without** nameservice (aka master) operationsNote
This :term:`transport` is currently available in the Common Lisp implementation of |project|.
Note
The URL schema for this transport is
tcp+roswhich is mapped toTCP_ROS(note the underscore) in environment variable names... envvar:: RSB_TRANSPORT_TCP_ROS_ENABLED ``1``: enable low-level TCP `ROS`_ :term:`transport` in this process; ``0``: disable the :term:`transport` in this process... envvar:: RSB_TRANSPORT_TCP_ROS_HOST Name or IP-address of the `ROS`_ node to which a connection should be established. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_TCP_ROS_PORT TCP port of the `ROS`_ node to which a connection should be established. Allowed values: a port number, i.e. an integer in the range [1, 65535].
ROS Transport with Nameservice Lookup
.. seealso:: :ref:`specification-ros-nameservice` Details about the `ROS`_ :term:`transport` **with** nameservice (aka master) operationsNote
This :term:`transport` is currently only available in the Common Lisp implementations of |project|.
.. envvar:: RSB_TRANSPORT_ROS_ENABLED ``1``: enable `ROS`_ :term:`transport` with nameservice lookup in this process; ``0``: disable the :term:`transport` in this process... envvar:: RSB_TRANSPORT_ROS_HOST Name or IP-address of the `ROS`_ **master**. Allowed values: a hostname or IP-address... envvar:: RSB_TRANSPORT_ROS_PORT TCP port on which the `ROS`_ **master** listens. Allowed values: a port number, i.e. an integer in the range [1, 65535].