Merge pull request #317 from ros2/hidmic/action-names

Add action services and topics name getters

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()
+ament_package()

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.
+ *
+ * <hr>
+ * 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.
+ *
+ * <hr>
+ * 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.
+ *
+ * <hr>
+ * 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.
+ *
+ * <hr>
+ * 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.
+ *
+ * <hr>
+ * 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_

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

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 <gtest/gtest.h>
+
+#include <iostream>
+
+#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<ActionDerivedNameTestSubject>
+{
+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());