[rcl action] Add action services and topics name getters

rcl_action/src/rcl_action/names.c

@@ -0,0 +1,112 @@
+// 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);
+  *goal_service_name = rcutils_format_string(allocator, "%s/_action/send_goal", action_name);
+  if (*goal_service_name == NULL) {
+    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);
+  *cancel_service_name = rcutils_format_string(allocator, "%s/_action/cancel_goal", action_name);
+  if (*cancel_service_name == NULL) {
+    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);
+  *result_service_name = rcutils_format_string(allocator, "%s/_action/get_result", action_name);
+  if (*result_service_name == NULL) {
+    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);
+  *feedback_topic_name = rcutils_format_string(allocator, "%s/_action/feedback", action_name);
+  if (*feedback_topic_name == NULL) {
+    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);
+  *status_topic_name = rcutils_format_string(allocator, "%s/_action/status", action_name);
+  if (*status_topic_name == NULL) {
+    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