Add Action graph API (#411)
* Add action graph API Builds on top of the rcl graph API. A list of action names associated with action clients can be constructed by looking for subscriber topic names that have the suffix "/_action/feedback". Likewise, action servers are associated with publisher topic names with the same suffix. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Enable multiple rmw action graph API tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use ament_target_dependencies for osrf_testing_tools_cpp Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint errors Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor * Move graph API common implementation to local function * Refactor tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Disable graph tests with OpenSplice Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include graph.h in rcl_action.h Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove duplicate test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Prefix increment operators Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Rename 'suffix' -> 'identifier' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing finalize calls and remove redundant branch Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Finalize names and types struct on error Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix bugs in tests Pass valid names and types struct and update expected error code. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add zero allocator tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix indentation Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Check if action identifiers are the suffix Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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5 changed files with 961 additions and 1 deletions
162
rcl_action/include/rcl_action/graph.h
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162
rcl_action/include/rcl_action/graph.h
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_ACTION__GRAPH_H_
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#define RCL_ACTION__GRAPH_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "rcl/graph.h"
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#include "rcl/node.h"
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#include "rcl_action/visibility_control.h"
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/// Get a list of action names and types for action clients associated with a node.
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/**
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* The `node` parameter must point to a valid node.
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*
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* The `action_names_and_types` parameter must be allocated and zero initialized.
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* This function allocates memory for the returned list of names and types and so it is the
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* callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
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* when it is no longer needed.
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* Failing to do so will result in leaked memory.
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*
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* The returned names are not automatically remapped by this function.
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* Attempting to create action clients or action servers with names returned by this function may
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* not result in the desired action name depending on the remap rules in use.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Maybe [1]
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* <i>[1] implementation may need to protect the data structure with a lock</i>
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*
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* \param[in] node the handle to the node being used to query the ROS graph
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* \param[in] allocator allocator for allocating space for strings
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* \param[in] node_name the node name of the actions to return
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* \param[in] node_namespace the node namespace of the actions to return
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* \param[out] action_names_and_types list of action names and their types
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* \return `RCL_RET_OK` if the query was successful, or
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* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_client_names_and_types_by_node(
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const rcl_node_t * node,
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rcl_allocator_t * allocator,
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const char * node_name,
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const char * node_namespace,
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rcl_names_and_types_t * action_names_and_types);
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/// Get a list of action names and types for action servers associated with a node.
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/**
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* This function returns a list of action names and types for action servers associated with
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* the provided node name.
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*
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* The `node` parameter must point to a valid node.
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*
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* The `action_names_and_types` parameter must be allocated and zero initialized.
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* This function allocates memory for the returned list of names and types and so it is the
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* callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
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* when it is no longer needed.
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* Failing to do so will result in leaked memory.
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*
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* The returned names are not automatically remapped by this function.
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* Attempting to create action clients or action servers with names returned by this function may
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* not result in the desired action name depending on the remap rules in use.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Maybe [1]
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* <i>[1] implementation may need to protect the data structure with a lock</i>
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*
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* \param[in] node the handle to the node being used to query the ROS graph
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* \param[in] allocator allocator for allocating space for strings
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* \param[in] node_name the node name of the actions to return
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* \param[in] node_namespace the node namespace of the actions to return
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* \param[out] action_names_and_types list of action names and their types
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* \return `RCL_RET_OK` if the query was successful, or
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* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_server_names_and_types_by_node(
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const rcl_node_t * node,
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rcl_allocator_t * allocator,
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const char * node_name,
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const char * node_namespace,
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rcl_names_and_types_t * action_names_and_types);
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/// Return a list of action names and their types.
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/**
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* This function returns a list of action names and types in the ROS graph.
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*
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* The `node` parameter must point to a valid node.
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*
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* The `action_names_and_types` parameter must be allocated and zero initialized.
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* This function allocates memory for the returned list of names and types and so it is the
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* callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
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* when it is no longer needed.
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* Failing to do so will result in leaked memory.
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*
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* The returned names are not automatically remapped by this function.
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* Attempting to create action clients or action servers with names returned by this function may
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* not result in the desired action name depending on the remap rules in use.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Maybe [1]
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* <i>[1] implementation may need to protect the data structure with a lock</i>
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*
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* \param[in] node the handle to the node being used to query the ROS graph
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* \param[in] allocator allocator for allocating space for strings
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* \param[out] action_names_and_types list of action names and types
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* \return `RCL_RET_OK` if the query was successful, or
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* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_names_and_types(
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const rcl_node_t * node,
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rcl_allocator_t * allocator,
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rcl_names_and_types_t * action_names_and_types);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_ACTION__GRAPH_H_
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@ -52,6 +52,7 @@ extern "C"
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#include "rcl_action/default_qos.h"
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#include "rcl_action/goal_handle.h"
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#include "rcl_action/goal_state_machine.h"
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#include "rcl_action/graph.h"
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#include "rcl_action/types.h"
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#include "rcl_action/wait.h"
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