From 114bc52891f73e51186735454feaea29ec70829e Mon Sep 17 00:00:00 2001
From: RARvolt <rarvolt@gmail.com>
Date: Thu, 3 Jan 2019 21:20:42 +0100
Subject: [PATCH] Fully qualified node name is computed once and stored.

---
 rcl/include/rcl/node.h     |  2 +-
 rcl/src/rcl/node.c         | 27 ++++++++++-----------------
 rcl/test/rcl/test_node.cpp |  6 +++---
 3 files changed, 14 insertions(+), 21 deletions(-)

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index 2f63105..71f6f0b 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -362,7 +362,7 @@ rcl_node_get_namespace(const rcl_node_t * node);
  * <hr>
  * Attribute          | Adherence
  * ------------------ | -------------
- * Allocates Memory   | Yes
+ * Allocates Memory   | No
  * Thread-Safe        | No
  * Uses Atomics       | No
  * Lock-Free          | Yes
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index c969dda..34c9c26 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -59,6 +59,7 @@ typedef struct rcl_node_impl_t
   rmw_node_t * rmw_node_handle;
   rcl_guard_condition_t * graph_guard_condition;
   const char * logger_name;
+  const char * fq_name;
 } rcl_node_impl_t;
 
 
@@ -284,6 +285,7 @@ rcl_node_init(
   node->impl->rmw_node_handle = NULL;
   node->impl->graph_guard_condition = NULL;
   node->impl->logger_name = NULL;
+  node->impl->fq_name = NULL;
   node->impl->options = rcl_node_get_default_options();
   node->context = context;
   // Initialize node impl.
@@ -319,6 +321,9 @@ rcl_node_init(
     local_namespace_ = remapped_namespace;
   }
 
+  // compute fully qualified name of the node
+  node->impl->fq_name = rcutils_format_string(*allocator, "%s/%s", local_namespace_, name);
+
   // node logger name
   node->impl->logger_name = rcl_create_node_logger_name(name, local_namespace_, allocator);
   RCL_CHECK_FOR_NULL_WITH_MSG(
@@ -440,6 +445,9 @@ fail:
         ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
       allocator->deallocate((char *)node->impl->logger_name, allocator->state);
     }
+    if (node->impl->fq_name) {
+      allocator->deallocate((char *)node->impl->fq_name, allocator->state);
+    }
     if (node->impl->rmw_node_handle) {
       ret = rmw_destroy_node(node->impl->rmw_node_handle);
       if (ret != RMW_RET_OK) {
@@ -514,6 +522,7 @@ rcl_node_fini(rcl_node_t * node)
   allocator.deallocate(node->impl->graph_guard_condition, allocator.state);
   // assuming that allocate and deallocate are ok since they are checked in init
   allocator.deallocate((char *)node->impl->logger_name, allocator.state);
+  allocator.deallocate((char *)node->impl->fq_name, allocator.state);
   if (NULL != node->impl->options.arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&(node->impl->options.arguments));
     if (ret != RCL_RET_OK) {
@@ -609,23 +618,7 @@ rcl_node_get_fully_qualified_name(const rcl_node_t * node)
   if (!rcl_node_is_valid_except_context(node)) {
     return NULL;  // error already set
   }
-
-  const char * name = rcl_node_get_name(node);
-  const char * ns = rcl_node_get_namespace(node);
-  char * fq_name = NULL;
-
-  if ('/' == ns[strlen(ns) - 1]) {
-    fq_name = (char *)calloc(strlen(ns) + strlen(name), sizeof(char));
-    strcpy(fq_name, ns);
-    strcat(fq_name, name);
-  }
-  else {
-    fq_name = (char *)calloc(strlen(ns) + strlen(name) + 1, sizeof(char));
-    strcpy(fq_name, ns);
-    strcat(fq_name, "/");
-    strcat(fq_name, name);
-  }
-  return fq_name;
+  return node->impl->fq_name;
 }
 
 const rcl_node_options_t *
diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp
index e3bcc4c..54d689d 100644
--- a/rcl/test/rcl/test_node.cpp
+++ b/rcl/test/rcl/test_node.cpp
@@ -218,14 +218,14 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
   EXPECT_TRUE(actual_fq_node_name ? true : false);
   if (actual_fq_node_name) {
     EXPECT_STREQ(fq_name, actual_fq_node_name);
-    free((char *)actual_fq_node_name);
   }
   rcl_reset_error();
-  actual_fq_node_name = rcl_node_get_fully_qualified_name(&node);
+  EXPECT_NO_MEMORY_OPERATIONS({
+    actual_fq_node_name = rcl_node_get_fully_qualified_name(&node);
+  });
   EXPECT_TRUE(actual_fq_node_name ? true : false);
   if (actual_fq_node_name) {
     EXPECT_EQ(std::string(fq_name), std::string(actual_fq_node_name));
-    free((char *)actual_fq_node_name);
   }
   // Test rcl_node_get_logger_name().
   const char * actual_node_logger_name;