Rosnode list (#108)

* expose list of nodes

* add test

* review comments

* add test for get_node_names

* fix unsigned comparison

* extend year of copyright

rcl/include/rcl/graph.h

@@ -1,4 +1,4 @@
-// Copyright 2016 Open Source Robotics Foundation, Inc.
+// Copyright 2016-2017 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.
@@ -31,6 +31,7 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 typedef rmw_topic_names_and_types_t rcl_topic_names_and_types_t;
+typedef rmw_string_array_t rcl_string_array_t;
 
 
 /// Return a rcl_topic_names_and_types_t struct with members initialized to `NULL`.
@@ -39,6 +40,12 @@ RCL_WARN_UNUSED
 rcl_topic_names_and_types_t
 rcl_get_zero_initialized_topic_names_and_types(void);
 
+/// Return a rcl_node_names_t struct with members initialized to `NULL`.
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_string_array_t
+rcl_get_zero_initialized_string_array(void);
+
 /// Return a list of topic names and their types.
 /**
  * This function returns a list of topic names in the ROS graph and their types.
@@ -100,6 +107,19 @@ rcl_ret_t
 rcl_destroy_topic_names_and_types(
   rcl_topic_names_and_types_t * topic_names_and_types);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_get_node_names(
+  const rcl_node_t * node,
+  rcl_string_array_t * node_names);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_destroy_node_names(
+  rcl_string_array_t * node_names);
+
 /// Return the number of publishers on a given topic.
 /**
  * This function returns the number of publishers on a given topic.

rcl/src/rcl/graph.c

@@ -1,4 +1,4 @@
-// Copyright 2016 Open Source Robotics Foundation, Inc.
+// Copyright 2016-2017 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.
@@ -28,6 +28,13 @@ rcl_get_zero_initialized_topic_names_and_types(void)
   return null_topic_names_and_types;
 }
 
+rcl_string_array_t
+rcl_get_zero_initialized_string_array(void)
+{
+  const rcl_string_array_t null_string_array = {0, NULL};
+  return null_string_array;
+}
+
 rcl_ret_t
 rcl_get_topic_names_and_types(
   const rcl_node_t * node,
@@ -64,6 +71,37 @@ rcl_destroy_topic_names_and_types(
   return rmw_destroy_topic_names_and_types(topic_names_and_types);
 }
 
+rcl_ret_t
+rcl_get_node_names(
+  const rcl_node_t * node,
+  rcl_string_array_t * node_names)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
+  if (!rcl_node_is_valid(node)) {
+    return RCL_RET_NODE_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_names, RCL_RET_INVALID_ARGUMENT);
+  if (node_names->size != 0) {
+    RCL_SET_ERROR_MSG("node_names size is not zero");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  if (node_names->data) {
+    RCL_SET_ERROR_MSG("node_names is not null");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  return rmw_get_node_names(
+    rcl_node_get_rmw_handle(node),
+    node_names);
+}
+
+rcl_ret_t
+rcl_destroy_node_names(
+  rcl_string_array_t * node_names)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_names, RCL_RET_INVALID_ARGUMENT);
+  return rmw_destroy_node_names(node_names);
+}
+
 rcl_ret_t
 rcl_count_publishers(
   const rcl_node_t * node,

rcl/test/CMakeLists.txt

@@ -63,6 +63,17 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
+  rcl_add_custom_gtest(test_get_node_names${target_suffix}
+    SRCS rcl/test_get_node_names.cpp
+    ENV
+      ${extra_test_env}
+      EMPTY_TEST=
+      NORMAL_TEST=foo
+    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    AMENT_DEPENDENCIES ${rmw_implementation}
+  )
+
   set(SKIP_TEST "")
   # TODO(wjwwood): remove this when the graph API works properly for FastRTPS
   if(

rcl/test/rcl/test_get_node_names.cpp

@@ -0,0 +1,96 @@
+// Copyright 2017 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 <gtest/gtest.h>
+
+#include <chrono>
+#include <thread>
+
+#include "rcl/graph.h"
+#include "rcl/rcl.h"
+#include "rmw/rmw.h"
+
+#include "../memory_tools/memory_tools.hpp"
+#include "rcl/error_handling.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+using namespace std::chrono_literals;
+
+class CLASSNAME (TestGetNodeNames, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    set_on_unexpected_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
+    set_on_unexpected_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
+    set_on_unexpected_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
+    start_memory_checking();
+  }
+
+  void TearDown()
+  {
+    assert_no_malloc_end();
+    assert_no_realloc_end();
+    assert_no_free_end();
+    stop_memory_checking();
+    set_on_unexpected_malloc_callback(nullptr);
+    set_on_unexpected_realloc_callback(nullptr);
+    set_on_unexpected_free_callback(nullptr);
+  }
+};
+
+TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names) {
+  auto ret = rcl_init(0, nullptr, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  auto node1_ptr = new rcl_node_t;
+  *node1_ptr = rcl_get_zero_initialized_node();
+  const char * node1_name = "node1";
+  rcl_node_options_t node1_options = rcl_node_get_default_options();
+  ret = rcl_node_init(node1_ptr, node1_name, &node1_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  auto node2_ptr = new rcl_node_t;
+  *node2_ptr = rcl_get_zero_initialized_node();
+  const char * node2_name = "node2";
+  rcl_node_options_t node2_options = rcl_node_get_default_options();
+  ret = rcl_node_init(node2_ptr, node2_name, &node2_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  std::this_thread::sleep_for(1s);
+
+  rcl_string_array_t node_names = rcl_get_zero_initialized_string_array();
+  ret = rcl_get_node_names(node1_ptr, &node_names);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  EXPECT_EQ(size_t(2), node_names.size);
+  EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
+  EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
+
+  ret = rcl_node_fini(node1_ptr);
+  delete node1_ptr;
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  ret = rcl_node_fini(node2_ptr);
+  delete node2_ptr;
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  ret = rcl_shutdown();
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+}

rcl/test/rcl/test_graph.cpp

@@ -150,6 +150,42 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 }
 
+/* Test the rcl_get_topic_names_and_types and rcl_destroy_topic_names_and_types functions.
+ *
+ * This does not test content of the rcl_topic_names_and_types_t structure.
+ */
+TEST_F(
+  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
+  test_rcl_get_and_destroy_node_names) {
+  stop_memory_checking();
+  rcl_ret_t ret;
+  rcl_string_array_t node_names {};
+  rcl_node_t zero_node = rcl_get_zero_initialized_node();
+  // invalid node
+  ret = rcl_get_node_names(nullptr, &node_names);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
+  rcl_reset_error();
+  ret = rcl_get_node_names(&zero_node, &node_names);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string_safe();
+  rcl_reset_error();
+  ret = rcl_get_node_names(this->old_node_ptr, &node_names);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string_safe();
+  rcl_reset_error();
+  // invalid topic_names_and_types
+  ret = rcl_get_node_names(this->node_ptr, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
+  rcl_reset_error();
+  // invalid argument to rcl_destroy_topic_names_and_types
+  ret = rcl_destroy_node_names(nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
+  rcl_reset_error();
+  // valid calls
+  ret = rcl_get_node_names(this->node_ptr, &node_names);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  ret = rcl_destroy_node_names(&node_names);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+}
+
 /* Test the rcl_count_publishers function.
  *
  * This does not test content the response.