diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index feb70a8..4ae684e 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -33,6 +33,7 @@ add_executable(test_compile_headers
set(rcl_action_sources
src/${PROJECT_NAME}/goal_state_machine.c
+ src/${PROJECT_NAME}/names.c
src/${PROJECT_NAME}/types.c
)
@@ -96,6 +97,17 @@ if(BUILD_TESTING)
${PROJECT_NAME}
)
endif()
+ ament_add_gtest(test_names
+ test/rcl_action/test_names.cpp
+ )
+ if(TARGET test_names)
+ target_include_directories(test_names PUBLIC
+ ${rcl_INCLUDE_DIRS}
+ )
+ target_link_libraries(test_names
+ ${PROJECT_NAME}
+ )
+ endif()
endif()
# specific order: dependents before dependencies
@@ -104,4 +116,4 @@ ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl)
ament_export_dependencies(action_msgs)
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/rcl_action/include/rcl_action/names.h b/rcl_action/include/rcl_action/names.h
new file mode 100644
index 0000000..411fc61
--- /dev/null
+++ b/rcl_action/include/rcl_action/names.h
@@ -0,0 +1,194 @@
+// Copyright 2018 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.
+
+#ifndef RCL_ACTION__NAMES_H_
+#define RCL_ACTION__NAMES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl_action/visibility_control.h"
+
+#include "rcl/allocator.h"
+#include "rcl/macros.h"
+#include "rcl/types.h"
+
+
+/// Get the goal service name of an action.
+/**
+ * This function returns the goal service name for a given action name
+ * that must be used by action clients and action servers to successfully
+ * communicate with each other.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] action_name The name of the action whose goal service name is
+ * being returned.
+ * \param[in] allocator A valid allocator to be used.
+ * \param[out] goal_service_name Either an allocated string with the action
+ * goal service name, or `NULL` if the function failed to allocate memory
+ * for it. Must refer to a `NULL` pointer upon call.
+ * \return `RCL_RET_OK` if the action goal service name was returned, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_goal_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** goal_service_name);
+
+/// Get the cancel service name of an action.
+/**
+ * This function returns the cancel service name for a given action name
+ * that must be used by action clients and action servers to successfully
+ * communicate with each other.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] action_name The name of the action whose cancel service name is
+ * being returned.
+ * \param[in] allocator A valid allocator to be used.
+ * \param[out] cancel_service_name Either an allocated string with the action
+ * cancel service name, or `NULL` if the function failed to allocate memory
+ * for it. Must refer to a `NULL` pointer upon call.
+ * \return `RCL_RET_OK` if the action cancel service name was returned, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_cancel_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** cancel_service_name);
+
+/// Get the result service name of an action.
+/**
+ * This function returns the result service name for a given action name
+ * that must be used by action clients and action servers to successfully
+ * communicate with each other.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] action_name The name of the action whose result service name is
+ * being returned.
+ * \param[in] allocator A valid allocator to be used.
+ * \param[out] result_service_name Either an allocated string with the action
+ * result service name, or `NULL` if the function failed to allocate memory
+ * for it. Must refer to a `NULL` pointer upon call.
+ * \return `RCL_RET_OK` if the action result service name was returned, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_result_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** result_service_name);
+
+/// Get the feedback topic name of an action.
+/**
+ * This function returns the feedback topic name for a given action name
+ * that must be used by action clients and action servers to successfully
+ * communicate with each other.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] action_name The name of the action whose feedback topic name is
+ * being returned.
+ * \param[in] allocator A valid allocator to be used.
+ * \param[out] result_service_name Either an allocated string with the action
+ * feedback topic name, or `NULL` if the function failed to allocate memory
+ * for it. Must refer to a `NULL` pointer upon call.
+ * \return `RCL_RET_OK` if the action feedback topic name was returned, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_feedback_topic_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** feedback_topic_name);
+
+/// Get the status topic name of an action.
+/**
+ * This function returns the status topic name for a given action name
+ * that must be used by action clients and action servers to successfully
+ * communicate with each other.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] action_name The name of the action whose status topic name is
+ * being returned.
+ * \param[in] allocator A valid allocator to be used.
+ * \param[out] result_service_name Either an allocated string with the action
+ * status topic name, or `NULL` if the function failed to allocate memory
+ * for it. Must refer to a `NULL` pointer upon call.
+ * \return `RCL_RET_OK` if the action status topic name was returned, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_status_topic_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** status_topic_name);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RCL_ACTION__NAMES_H_
diff --git a/rcl_action/src/rcl_action/names.c b/rcl_action/src/rcl_action/names.c
new file mode 100644
index 0000000..6ba3c92
--- /dev/null
+++ b/rcl_action/src/rcl_action/names.c
@@ -0,0 +1,133 @@
+// Copyright 2018 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.
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl_action/names.h"
+
+#include "rcl/error_handling.h"
+#include "rcutils/format_string.h"
+
+rcl_ret_t
+rcl_action_get_goal_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** goal_service_name)
+{
+ RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ RCL_CHECK_ARGUMENT_FOR_NULL(goal_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ if (NULL != *goal_service_name) {
+ RCL_SET_ERROR_MSG("writing action goal service name may leak memory", allocator);
+ return RCL_RET_INVALID_ARGUMENT;
+ }
+ *goal_service_name = rcutils_format_string(allocator, "%s/_action/send_goal", action_name);
+ if (NULL == *goal_service_name) {
+ RCL_SET_ERROR_MSG("failed to allocate memory for action goal service name", allocator);
+ return RCL_RET_BAD_ALLOC;
+ }
+ return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_get_cancel_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** cancel_service_name)
+{
+ RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ RCL_CHECK_ARGUMENT_FOR_NULL(cancel_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ if (NULL != *cancel_service_name) {
+ RCL_SET_ERROR_MSG("writing action cancel service name may leak memory", allocator);
+ return RCL_RET_INVALID_ARGUMENT;
+ }
+ *cancel_service_name = rcutils_format_string(allocator, "%s/_action/cancel_goal", action_name);
+ if (NULL == *cancel_service_name) {
+ RCL_SET_ERROR_MSG("failed to allocate memory for action cancel service name", allocator);
+ return RCL_RET_BAD_ALLOC;
+ }
+ return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_get_result_service_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** result_service_name)
+{
+ RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ RCL_CHECK_ARGUMENT_FOR_NULL(result_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ if (NULL != *result_service_name) {
+ RCL_SET_ERROR_MSG("writing action result service name may leak memory", allocator);
+ return RCL_RET_INVALID_ARGUMENT;
+ }
+
+ *result_service_name = rcutils_format_string(allocator, "%s/_action/get_result", action_name);
+ if (NULL == *result_service_name) {
+ RCL_SET_ERROR_MSG("failed to allocate memory for action result service name", allocator);
+ return RCL_RET_BAD_ALLOC;
+ }
+ return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_get_feedback_topic_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** feedback_topic_name)
+{
+ RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ RCL_CHECK_ARGUMENT_FOR_NULL(feedback_topic_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ if (NULL != *feedback_topic_name) {
+ RCL_SET_ERROR_MSG("writing action feedback topic name may leak memory", allocator);
+ return RCL_RET_INVALID_ARGUMENT;
+ }
+ *feedback_topic_name = rcutils_format_string(allocator, "%s/_action/feedback", action_name);
+ if (NULL == *feedback_topic_name) {
+ RCL_SET_ERROR_MSG("failed to allocate memory for action feedback topic name", allocator);
+ return RCL_RET_BAD_ALLOC;
+ }
+ return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_action_get_status_topic_name(
+ const char * action_name,
+ rcl_allocator_t allocator,
+ char ** status_topic_name)
+{
+ RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
+ RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ RCL_CHECK_ARGUMENT_FOR_NULL(status_topic_name, RCL_RET_INVALID_ARGUMENT, allocator);
+ if (NULL != *status_topic_name) {
+ RCL_SET_ERROR_MSG("writing action status topic name may leak memory", allocator);
+ return RCL_RET_INVALID_ARGUMENT;
+ }
+ *status_topic_name = rcutils_format_string(allocator, "%s/_action/status", action_name);
+ if (NULL == *status_topic_name) {
+ RCL_SET_ERROR_MSG("failed to allocate memory for action status topic name", allocator);
+ return RCL_RET_BAD_ALLOC;
+ }
+ return RCL_RET_OK;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/rcl_action/test/rcl_action/test_names.cpp b/rcl_action/test/rcl_action/test_names.cpp
new file mode 100644
index 0000000..da9e3fa
--- /dev/null
+++ b/rcl_action/test/rcl_action/test_names.cpp
@@ -0,0 +1,130 @@
+// Copyright 2018 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
+
+#include
+
+#include "rcl_action/names.h"
+
+#include "rcl/allocator.h"
+#include "rcl/types.h"
+
+struct ActionDerivedNameTestSubject
+{
+ const char * action_name;
+ const char * expected_action_derived_name;
+ rcl_ret_t (* get_action_derived_name)(const char *, rcl_allocator_t, char **);
+ const char * subject_name;
+};
+
+std::ostream & operator<<(std::ostream & os, const ActionDerivedNameTestSubject & test_subject)
+{
+ return os << test_subject.subject_name;
+}
+
+class TestActionDerivedName
+ : public ::testing::TestWithParam
+{
+protected:
+ void SetUp() override
+ {
+ test_subject = GetParam();
+ }
+
+ ActionDerivedNameTestSubject test_subject;
+};
+
+TEST_P(TestActionDerivedName, validate_action_derived_getter)
+{
+ rcl_ret_t ret;
+ char dummy_char;
+ char * action_derived_name;
+ rcl_allocator_t default_allocator =
+ rcl_get_default_allocator();
+
+ action_derived_name = NULL;
+ const char * const invalid_action_name = NULL;
+ ret = test_subject.get_action_derived_name(
+ invalid_action_name, default_allocator,
+ &action_derived_name);
+ EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+ action_derived_name = NULL;
+ rcl_allocator_t invalid_allocator =
+ (rcl_allocator_t)rcutils_get_zero_initialized_allocator();
+ ret = test_subject.get_action_derived_name(
+ test_subject.action_name, invalid_allocator,
+ &action_derived_name);
+ EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+ action_derived_name = NULL;
+ char ** invalid_ptr_to_action_derived_name = NULL;
+ ret = test_subject.get_action_derived_name(
+ test_subject.action_name, default_allocator,
+ invalid_ptr_to_action_derived_name);
+ EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+ action_derived_name = &dummy_char;
+ ret = test_subject.get_action_derived_name(
+ test_subject.action_name, default_allocator,
+ &action_derived_name);
+ EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+ action_derived_name = NULL;
+ ret = test_subject.get_action_derived_name(
+ test_subject.action_name, default_allocator,
+ &action_derived_name);
+ ASSERT_EQ(RCL_RET_OK, ret);
+ EXPECT_STREQ(test_subject.expected_action_derived_name, action_derived_name);
+ default_allocator.deallocate(action_derived_name, default_allocator.state);
+}
+
+const ActionDerivedNameTestSubject action_service_and_topic_subjects[] = {
+ {
+ "test_it", // action_name
+ "test_it/_action/send_goal", // expected_action_derived_name
+ rcl_action_get_goal_service_name, // get_action_derived_name
+ "goal_service_name_test" // subject_name
+ },
+ {
+ "test_it", // action_name
+ "test_it/_action/cancel_goal", // expected_action_derived_name
+ rcl_action_get_cancel_service_name, // get_action_derived_name
+ "cancel_service_name_test" // subject_name
+ },
+ {
+ "test_it", // action_name
+ "test_it/_action/get_result", // expected_action_derived_name
+ rcl_action_get_result_service_name, // get_action_derived_name
+ "result_service_name_test" // subject_name
+ },
+ {
+ "test_it", // action_name
+ "test_it/_action/feedback", // expected_action_derived_name
+ rcl_action_get_feedback_topic_name, // get_action_derived_name
+ "feedback_topic_name_test" // subject_name
+ },
+ {
+ "test_it", // action_name
+ "test_it/_action/status", // expected_action_derived_name
+ rcl_action_get_status_topic_name, // get_action_derived_name
+ "status_topic_name_test" // subject_name
+ }
+};
+
+INSTANTIATE_TEST_CASE_P(
+ TestActionServiceAndTopicNames, TestActionDerivedName,
+ ::testing::ValuesIn(action_service_and_topic_subjects),
+ ::testing::PrintToStringParamName());