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

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Add action services and topics name getters
This commit is contained in:
Michel Hidalgo 2018-11-01 16:43:06 -03:00 • committed by GitHub
commit 765de78140
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4 changed files with 470 additions and 1 deletions
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12
rcl_action/CMakeLists.txt
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@ -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

194
rcl_action/include/rcl_action/names.h Normal file
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@ -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_

133
rcl_action/src/rcl_action/names.c Normal file
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@ -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

130
rcl_action/test/rcl_action/test_names.cpp Normal file
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@ -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());