From 5f49f72aab10e55803397a7a10f4aa7cf6bf13e1 Mon Sep 17 00:00:00 2001
From: n-ando <Noriaki.Ando@gmail.com>
Date: Mon, 2 Oct 2023 02:22:23 -0400
Subject: [PATCH] getParameterByModulename()'s bug fixed

---
 src/lib/rtm/ManagerServant.cpp | 82 +++++++++++-----------------------
 src/lib/rtm/ManagerServant.h   | 26 +++++++++++
 2 files changed, 53 insertions(+), 55 deletions(-)

diff --git a/src/lib/rtm/ManagerServant.cpp b/src/lib/rtm/ManagerServant.cpp
index 7b8c3d2fb..3cda97d63 100644
--- a/src/lib/rtm/ManagerServant.cpp
+++ b/src/lib/rtm/ManagerServant.cpp
@@ -323,65 +323,37 @@ namespace RTM
 
   std::string ManagerServant::getParameterByModulename(const std::string& param_name, std::string &module_name)
   {
-        size_t pos0 = module_name.find("&" + param_name + "=");
-        size_t pos1 = module_name.find("?" + param_name + "=");
-
-        if (pos0 == std::string::npos && pos1 == std::string::npos)
-          {
-            return "";
-          }
-
-        size_t pos = 0;
-        if (pos0 == std::string::npos)
-          {
-            pos = pos1;
-          }
-        else
-          {
-            pos = pos0;
-        }
-
-        std::string paramstr;
-        size_t endpos = module_name.find('&', pos + 1);
-
-
-        if (endpos == std::string::npos)
-          {
-            endpos = module_name.find('?', pos + 1);
-
-            if (endpos == std::string::npos)
-              {
-                paramstr = module_name.substr((pos + 1));
-                
-              }
-            else
-              {
-                paramstr = module_name.substr((pos + 1), endpos);
-              }
-          }
-        else
-          {
-            paramstr = module_name.substr((pos + 1), endpos);
-          }
-        RTC_VERBOSE(("%s arg: %s", param_name.c_str(), paramstr.c_str()));
-        
-        size_t eqpos = paramstr.find('=');
-
-        paramstr = paramstr.substr(eqpos + 1);
+    size_t param_start = module_name.find(param_name + "=");
 
+    if (param_start == std::string::npos)
+      { // no specified param
+        return "";
+      }
 
-        RTC_DEBUG(("%s is %s", param_name.c_str(), paramstr.c_str()));
+    size_t param_end = module_name.find("&", param_start);
 
-        if (endpos == std::string::npos)
-          {
-            module_name = module_name.substr(0, pos);
-          }
-        else
-          {
-            module_name = module_name.substr(0, pos) + module_name.substr(endpos);
-          }
+    if (param_end == std::string::npos)
+      { // param is end of param list
+        param_end = module_name.length();
+      }
 
-        return paramstr;
+    // extract param's value
+    // module_name?....param_name=param_value
+    //   substr(       ^   arg1  ^    arg2  ^ )
+    std::string param_value =
+      module_name.substr(param_start + param_name.length() + 1,
+                         param_end - param_start - param_name.length() - 1);
+    RTC_DEBUG(("%s is %s", param_name.c_str(), param_value.c_str()));
+    // remove specified param
+    if (module_name[param_start - 1] == '?')
+      { // module_name?{param_name=param_value}: remove {}
+        module_name.erase(param_start, param_end - param_start + 1);
+      }
+    if (module_name[param_start - 1] == '&')
+      { // module_name?other_param...{&param_name=param_value}: remove {}
+        module_name.erase(param_start - 1, param_end - param_start + 1);
+      }
+    return param_value;
   }
   
   /*!
diff --git a/src/lib/rtm/ManagerServant.h b/src/lib/rtm/ManagerServant.h
index 02076e5fe..7d8f4d8a0 100644
--- a/src/lib/rtm/ManagerServant.h
+++ b/src/lib/rtm/ManagerServant.h
@@ -703,6 +703,32 @@ namespace RTM
      * @endif
      */
     void updateMasterManager();
+    /*
+     * @if jp
+     * @brief create引数から指定されたキーの値を返す
+     *
+     * create引数から指定されたキーを値を返すとともに、そのキーと値を削除した引
+     * 数を返す。
+     * module_name: module_name?param1=value1&param2=value2&param3...
+     * param_name:  param2
+     * の場合
+     * 返り値: value2
+     * module_name: module_name?param1=value1&param3...
+     * となる。
+     *
+     * @else @brief returns value of specified param_name from create arg
+     *
+     * This function returns the value of specified param_name from
+     * create argument, and delete param_name=value from the create
+     * arg string. If the arguments are
+     * module_name: module_name?param1=value1&param2=value2&param3...
+     * param_name:  param2
+     * this function returns
+     * ret value: value2
+     * module_name: module_name?param1=value1&param3...
+     *
+     * @endif
+     */
     std::string getParameterByModulename(const std::string& param_name, std::string &module_name);
     static bool isProcessIDManager(const std::string& mgrname);