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Use namespaces (#137)

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* fix documentation of expand_topic_name()

* use expand_topic_name() in pub/sub/client/service

* update test expectations

* use absolute topic names to avoid mismatch due to expansion

* propagate new functions from rcutils error handling

* convert given rcl allocator to a rcutils allocator
This commit is contained in:
William Woodall 2017-05-30 18:24:48 -07:00 • committed by GitHub
parent 6fbfb4ee07
commit e1bfa26cea
16 changed files with 306 additions and 32 deletions
Download patch file Download diff file Expand all files Collapse all files

8
rcl/include/rcl/client.h
View file

@ -96,9 +96,10 @@ rcl_get_zero_initialized_client(void);
* The rosidl_service_type_support_t object contains service type specific
* information used to send or take requests and responses.
*
* \todo TODO(wjwwood) update this once we've come up with an official scheme.
* The service name must be a non-empty string which follows the topic/service
* name format conventions.
* The topic name must be a c string which follows the topic and service name
* format rules for unexpanded names, also known as non-fully qualified names:
*
* \see rcl_expand_topic_name
*
* The options struct allows the user to set the quality of service settings as
* well as a custom allocator which is used when initializing/finalizing the
@ -145,6 +146,7 @@ rcl_get_zero_initialized_client(void);
* \return `RCL_RET_ALREADY_INIT` if the client is already initialized, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory fails, or
* \return `RCL_RET_SERVICE_NAME_INVALID` if the given service name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

4
rcl/include/rcl/error_handling.h
View file

@ -31,6 +31,10 @@
typedef rcutils_error_state_t rcl_error_state_t;
#define rcl_error_state_copy rcutils_error_state_copy
#define rcl_error_state_fini rcutils_error_state_fini
#define rcl_set_error_state rcutils_set_error_state
#define RCL_SET_ERROR_MSG(msg, allocator) RCUTILS_SET_ERROR_MSG(msg, allocator)

8
rcl/include/rcl/expand_topic_name.h
View file

@ -49,12 +49,12 @@ extern "C"
* if (rcutils_ret != RCUTILS_RET_OK) {
* // ... error handling
* }
* rcutils_ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
* if (rcutils_ret != RCUTILS_RET_OK) {
* rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
* if (ret != RCL_RET_OK) {
* // ... error handling
* }
* char * expanded_topic_name = NULL;
* rcl_ret_t ret = rcl_expand_topic_name(
* ret = rcl_expand_topic_name(
* "some/topic",
* "my_node",
* "my_ns",
@ -108,7 +108,7 @@ extern "C"
* \return `RCL_RET_TOPIC_NAME_INVALID` if the given topic name is invalid, or
* \return `RCL_RET_NODE_INVALID_NAME` if the name is invalid, or
* \return `RCL_RET_NODE_INVALID_NAMESPACE` if the namespace_ is invalid, or
* \return `RCL_RET_UNKNOWN_SUBSTITUTION` if the given topic name is invalid, or
* \return `RCL_RET_UNKNOWN_SUBSTITUTION` for unknown substitutions in name, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

8
rcl/include/rcl/publisher.h
View file

@ -89,9 +89,10 @@ rcl_get_zero_initialized_publisher(void);
* The rosidl_message_type_support_t object contains message type specific
* information used to publish messages.
*
* \todo TODO(wjwwood) update this once we've come up with an official scheme.
* The topic name must be a non-empty string which follows the topic naming
* format.
* The topic name must be a c string which follows the topic and service name
* format rules for unexpanded names, also known as non-fully qualified names:
*
* \see rcl_expand_topic_name
*
* The options struct allows the user to set the quality of service settings as
* well as a custom allocator which is used when initializing/finalizing the
@ -137,6 +138,7 @@ rcl_get_zero_initialized_publisher(void);
* \return `RCL_RET_ALREADY_INIT` if the publisher is already initialized, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory fails, or
* \return `RCL_RET_TOPIC_NAME_INVALID` if the given topic name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

8
rcl/include/rcl/service.h
View file

@ -91,9 +91,10 @@ rcl_get_zero_initialized_service(void);
* The rosidl_service_type_support_t object contains service type specific
* information used to send or take requests and responses.
*
* \todo TODO(wjwwood) update this once we've come up with an official scheme.
* The service name must be a non-empty string which follows the service/topic
* naming format.
* The topic name must be a c string which follows the topic and service name
* format rules for unexpanded names, also known as non-fully qualified names:
*
* \see rcl_expand_topic_name
*
* The options struct allows the user to set the quality of service settings as
* well as a custom allocator which is used when initializing/finalizing the
@ -138,6 +139,7 @@ rcl_get_zero_initialized_service(void);
* \return `RCL_RET_OK` if service was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_SERVICE_NAME_INVALID` if the given service name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

8
rcl/include/rcl/subscription.h
View file

@ -92,9 +92,10 @@ rcl_get_zero_initialized_subscription(void);
* The rosidl_message_type_support_t object contains message type specific
* information used to publish messages.
*
* \todo TODO(wjwwood) update this once we've come up with an official scheme.
* The topic name must be a non-empty string which follows the topic naming
* format.
* The topic name must be a c string which follows the topic and service name
* format rules for unexpanded names, also known as non-fully qualified names:
*
* \see rcl_expand_topic_name
*
* The options struct allows the user to set the quality of service settings as
* well as a custom allocator which is used when (de)initializing the
@ -140,6 +141,7 @@ rcl_get_zero_initialized_subscription(void);
* \return `RCL_RET_OK` if subscription was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_TOPIC_NAME_INVALID` if the given topic name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC

4
rcl/include/rcl/types.h
View file

@ -38,8 +38,10 @@ typedef rmw_ret_t rcl_ret_t;
#define RCL_RET_MISMATCHED_RMW_ID 102
/// Topic name does not pass validation.
#define RCL_RET_TOPIC_NAME_INVALID 103
/// Service name (same as topic name) does not pass validation.
#define RCL_RET_SERVICE_NAME_INVALID 104
/// Topic name substitution is unknown.
#define RCL_RET_UNKNOWN_SUBSTITUTION 104
#define RCL_RET_UNKNOWN_SUBSTITUTION 105
// rcl node specific ret codes in 2XX
/// Invalid rcl_node_t given return code.

66
rcl/src/rcl/client.c
View file

@ -19,10 +19,13 @@ extern "C"
#include "rcl/client.h"
#include <stdio.h>
#include <string.h>
#include "rcl/expand_topic_name.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"
#include "./common.h"
#include "./stdatomic_helper.h"
@ -73,6 +76,66 @@ rcl_client_init(
RCL_SET_ERROR_MSG("client already initialized, or memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT;
}
// Expand the given service name.
rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
return RCL_RET_BAD_ALLOC;
}
return RCL_RET_ERROR;
}
rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
if (ret != RCL_RET_OK) {
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
fprintf(stderr,
"[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
"failed to fini string_map (%d) during error handling: %s\n",
rcutils_ret,
rcutils_get_error_string_safe());
}
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
}
return RCL_RET_ERROR;
}
char * expanded_service_name = NULL;
ret = rcl_expand_topic_name(
service_name,
rcl_node_get_name(node),
rcl_node_get_namespace(node),
&substitutions_map,
*allocator,
&expanded_service_name);
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
allocator->deallocate(expanded_service_name, allocator->state);
return RCL_RET_ERROR;
}
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
} else if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
return RCL_RET_SERVICE_NAME_INVALID;
} else {
return RCL_RET_ERROR;
}
}
// Validate the expanded service name.
int validation_result;
rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_service_name, &validation_result, NULL);
if (rmw_ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
return RCL_RET_ERROR;
}
if (validation_result != RMW_TOPIC_VALID) {
RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result), *allocator)
return RCL_RET_SERVICE_NAME_INVALID;
}
// Allocate space for the implementation struct.
client->impl = (rcl_client_impl_t *)allocator->allocate(
sizeof(rcl_client_impl_t), allocator->state);
@ -84,8 +147,9 @@ rcl_client_init(
client->impl->rmw_handle = rmw_create_client(
rcl_node_get_rmw_handle(node),
type_support,
service_name,
expanded_service_name,
&options->qos);
allocator->deallocate(expanded_service_name, allocator->state);
if (!client->impl->rmw_handle) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;

66
rcl/src/rcl/publisher.c
View file

@ -19,11 +19,14 @@ extern "C"
#include "rcl/publisher.h"
#include <stdio.h>
#include <string.h>
#include "./common.h"
#include "rcl/expand_topic_name.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"
typedef struct rcl_publisher_impl_t
{
@ -71,6 +74,66 @@ rcl_publisher_init(
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
// Expand the given topic name.
rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
return RCL_RET_BAD_ALLOC;
}
return RCL_RET_ERROR;
}
rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
if (ret != RCL_RET_OK) {
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
fprintf(stderr,
"[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
"failed to fini string_map (%d) during error handling: %s\n",
rcutils_ret,
rcutils_get_error_string_safe());
}
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
}
return RCL_RET_ERROR;
}
char * expanded_topic_name = NULL;
ret = rcl_expand_topic_name(
topic_name,
rcl_node_get_name(node),
rcl_node_get_namespace(node),
&substitutions_map,
*allocator,
&expanded_topic_name);
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
allocator->deallocate(expanded_topic_name, allocator->state);
return RCL_RET_ERROR;
}
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
} else if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
return RCL_RET_TOPIC_NAME_INVALID;
} else {
return RCL_RET_ERROR;
}
}
// Validate the expanded topic name.
int validation_result;
rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_topic_name, &validation_result, NULL);
if (rmw_ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
return RCL_RET_ERROR;
}
if (validation_result != RMW_TOPIC_VALID) {
RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result), *allocator)
return RCL_RET_TOPIC_NAME_INVALID;
}
// Allocate space for the implementation struct.
publisher->impl = (rcl_publisher_impl_t *)allocator->allocate(
sizeof(rcl_publisher_impl_t), allocator->state);
@ -82,8 +145,9 @@ rcl_publisher_init(
publisher->impl->rmw_handle = rmw_create_publisher(
rcl_node_get_rmw_handle(node),
type_support,
topic_name,
expanded_topic_name,
&(options->qos));
allocator->deallocate(expanded_topic_name, allocator->state);
if (!publisher->impl->rmw_handle) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;

65
rcl/src/rcl/service.c
View file

@ -23,8 +23,10 @@ extern "C"
#include <string.h>
#include "./common.h"
#include "rcl/expand_topic_name.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"
typedef struct rcl_service_impl_t
{
@ -71,6 +73,66 @@ rcl_service_init(
RCL_SET_ERROR_MSG("service already initialized, or memory was unintialized", *allocator);
return RCL_RET_ALREADY_INIT;
}
// Expand the given service name.
rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
return RCL_RET_BAD_ALLOC;
}
return RCL_RET_ERROR;
}
rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
if (ret != RCL_RET_OK) {
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
fprintf(stderr,
"[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
"failed to fini string_map (%d) during error handling: %s\n",
rcutils_ret,
rcutils_get_error_string_safe());
}
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
}
return RCL_RET_ERROR;
}
char * expanded_service_name = NULL;
ret = rcl_expand_topic_name(
service_name,
rcl_node_get_name(node),
rcl_node_get_namespace(node),
&substitutions_map,
*allocator,
&expanded_service_name);
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
allocator->deallocate(expanded_service_name, allocator->state);
return RCL_RET_ERROR;
}
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
} else if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
return RCL_RET_SERVICE_NAME_INVALID;
} else {
return RCL_RET_ERROR;
}
}
// Validate the expanded service name.
int validation_result;
rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_service_name, &validation_result, NULL);
if (rmw_ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
return RCL_RET_ERROR;
}
if (validation_result != RMW_TOPIC_VALID) {
RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result), *allocator)
return RCL_RET_SERVICE_NAME_INVALID;
}
// Allocate space for the implementation struct.
service->impl = (rcl_service_impl_t *)allocator->allocate(
sizeof(rcl_service_impl_t), allocator->state);
@ -87,8 +149,9 @@ rcl_service_init(
service->impl->rmw_handle = rmw_create_service(
rcl_node_get_rmw_handle(node),
type_support,
service_name,
expanded_service_name,
&options->qos);
allocator->deallocate(expanded_service_name, allocator->state);
if (!service->impl->rmw_handle) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;

69
rcl/src/rcl/subscription.c
View file

@ -19,9 +19,13 @@ extern "C"
#include "rcl/subscription.h"
#include <stdio.h>
#include "./common.h"
#include "rcl/expand_topic_name.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "./common.h"
#include "rmw/validate_full_topic_name.h"
typedef struct rcl_subscription_impl_t
{
@ -64,6 +68,66 @@ rcl_subscription_init(
RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized", *allocator);
return RCL_RET_ALREADY_INIT;
}
// Expand the given topic name.
rcutils_allocator_t rcutils_allocator = *allocator; // implicit conversion to rcutils version
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
return RCL_RET_BAD_ALLOC;
}
return RCL_RET_ERROR;
}
rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
if (ret != RCL_RET_OK) {
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
fprintf(stderr,
"[" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
"failed to fini string_map (%d) during error handling: %s\n",
rcutils_ret,
rcutils_get_error_string_safe());
}
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
}
return RCL_RET_ERROR;
}
char * expanded_topic_name = NULL;
ret = rcl_expand_topic_name(
topic_name,
rcl_node_get_name(node),
rcl_node_get_namespace(node),
&substitutions_map,
*allocator,
&expanded_topic_name);
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
if (rcutils_ret != RCUTILS_RET_OK) {
RCL_SET_ERROR_MSG(rcutils_get_error_string_safe(), *allocator)
allocator->deallocate(expanded_topic_name, allocator->state);
return RCL_RET_ERROR;
}
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_BAD_ALLOC) {
return ret;
} else if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
return RCL_RET_TOPIC_NAME_INVALID;
} else {
return RCL_RET_ERROR;
}
}
// Validate the expanded topic name.
int validation_result;
rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_topic_name, &validation_result, NULL);
if (rmw_ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
return RCL_RET_ERROR;
}
if (validation_result != RMW_TOPIC_VALID) {
RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result), *allocator)
return RCL_RET_TOPIC_NAME_INVALID;
}
// Allocate memory for the implementation struct.
subscription->impl = (rcl_subscription_impl_t *)allocator->allocate(
sizeof(rcl_subscription_impl_t), allocator->state);
@ -75,9 +139,10 @@ rcl_subscription_init(
subscription->impl->rmw_handle = rmw_create_subscription(
rcl_node_get_rmw_handle(node),
type_support,
topic_name,
expanded_topic_name,
&(options->qos),
options->ignore_local_publications);
allocator->deallocate(expanded_topic_name, allocator->state);
if (!subscription->impl->rmw_handle) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), *allocator);
goto fail;

3
rcl/test/rcl/test_client.cpp
View file

@ -73,6 +73,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
// Initialize the client.
const char * topic_name = "add_two_ints";
const char * expected_topic_name = "/add_two_ints";
rcl_client_options_t client_options = rcl_client_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
@ -81,7 +82,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
// Check the return code of initialization and that the service name matches what's expected
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), topic_name), 0);
EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
auto client_exit = make_scope_exit([&client, this]() {
stop_memory_checking();

12
rcl/test/rcl/test_graph.cpp
View file

@ -161,7 +161,7 @@ TEST_F(
stop_memory_checking();
rcl_ret_t ret;
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * topic_name = "topic_test_rcl_count_publishers";
const char * topic_name = "/topic_test_rcl_count_publishers";
size_t count;
// invalid node
ret = rcl_count_publishers(nullptr, topic_name, &count);
@ -199,7 +199,7 @@ TEST_F(
stop_memory_checking();
rcl_ret_t ret;
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * topic_name = "topic_test_rcl_count_subscribers";
const char * topic_name = "/topic_test_rcl_count_subscribers";
size_t count;
// invalid node
ret = rcl_count_subscribers(nullptr, topic_name, &count);
@ -323,7 +323,7 @@ check_graph_state(
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functions) {
stop_memory_checking();
std::string topic_name("test_graph_query_functions__");
std::string topic_name("/test_graph_query_functions__");
std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch();
topic_name += std::to_string(now.count());
printf("Using topic name: %s\n", topic_name.c_str());
@ -421,7 +421,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"chatter_test_graph_guard_condition_topics", &pub_ops);
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
@ -430,7 +430,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
"chatter_test_graph_guard_condition_topics", &sub_ops);
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
@ -481,7 +481,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
// First create a client which will be used to call the function.
rcl_client_t client = rcl_get_zero_initialized_client();
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
const char * service_name = "service_test_rcl_service_server_is_available";
const char * service_name = "/service_test_rcl_service_server_is_available";
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();

3
rcl/test/rcl/test_publisher.cpp
View file

@ -89,6 +89,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic_name = "chatter_int64";
const char * expected_topic_name = "/chatter_int64";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@ -97,7 +98,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), topic_name), 0);
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
msg.data = 42;

3
rcl/test/rcl/test_service.cpp
View file

@ -119,6 +119,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
const char * topic = "add_two_ints";
const char * expected_topic = "/add_two_ints";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
@ -126,7 +127,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// Check that the service name matches what we assigned.
EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), topic), 0);
EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
auto service_exit = make_scope_exit([&service, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);

3
rcl/test/rcl/test_subscription.cpp
View file

@ -130,6 +130,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic = "rcl_test_subscription_nominal_chatter_int64";
const char * expected_topic = "/rcl_test_subscription_nominal_chatter_int64";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@ -147,7 +148,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), topic), 0);
EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time