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Include namespaces in get_node_names. (#287)

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Michael Carroll 2018-09-06 08:04:41 -05:00 • committed by GitHub
parent 0e772b237e
commit f93072b1b8
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 59 additions and 7 deletions
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4
rcl/include/rcl/graph.h
View file

@ -201,6 +201,7 @@ rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);
* \param[in] node the handle to the node being used to query the ROS graph
* \param[in] allocator used to control allocation and deallocation of names
* \param[out] node_names struct storing discovered node names.
* \param[out] node_namesspaces struct storing discovered node namespaces.
* \return `RCL_RET_OK` if the query was successful, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
@ -210,7 +211,8 @@ rcl_ret_t
rcl_get_node_names(
const rcl_node_t * node,
rcl_allocator_t allocator,
rcutils_string_array_t * node_names);
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces);
/// Return the number of publishers on a given topic.
/**

16
rcl/src/rcl/graph.c
View file

@ -95,7 +95,8 @@ rcl_ret_t
rcl_get_node_names(
const rcl_node_t * node,
rcl_allocator_t allocator,
rcutils_string_array_t * node_names)
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, allocator);
if (!rcl_node_is_valid(node, &allocator)) {
@ -110,9 +111,20 @@ rcl_get_node_names(
RCL_SET_ERROR_MSG("node_names is not null", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespaces,
RCL_RET_INVALID_ARGUMENT, allocator);
if (node_namespaces->size != 0) {
RCL_SET_ERROR_MSG("node_namespaces size is not zero", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
if (node_namespaces->data) {
RCL_SET_ERROR_MSG("node_namespaces is not null", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t rmw_ret = rmw_get_node_names(
rcl_node_get_rmw_handle(node),
node_names);
node_names,
node_namespaces);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

46
rcl/test/rcl/test_get_node_names.cpp
View file

@ -52,21 +52,40 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
auto node1_ptr = new rcl_node_t;
*node1_ptr = rcl_get_zero_initialized_node();
const char * node1_name = "node1";
const char * node1_namespace = "/";
rcl_node_options_t node1_options = rcl_node_get_default_options();
ret = rcl_node_init(node1_ptr, node1_name, "", &node1_options);
ret = rcl_node_init(node1_ptr, node1_name, node1_namespace, &node1_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto node2_ptr = new rcl_node_t;
*node2_ptr = rcl_get_zero_initialized_node();
const char * node2_name = "node2";
const char * node2_namespace = "/";
rcl_node_options_t node2_options = rcl_node_get_default_options();
ret = rcl_node_init(node2_ptr, node2_name, "", &node2_options);
ret = rcl_node_init(node2_ptr, node2_name, node2_namespace, &node2_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto node3_ptr = new rcl_node_t;
*node3_ptr = rcl_get_zero_initialized_node();
const char * node3_name = "node3";
const char * node3_namespace = "/ns";
rcl_node_options_t node3_options = rcl_node_get_default_options();
ret = rcl_node_init(node3_ptr, node3_name, node3_namespace, &node3_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto node4_ptr = new rcl_node_t;
*node4_ptr = rcl_get_zero_initialized_node();
const char * node4_name = "node2";
const char * node4_namespace = "/ns/ns";
rcl_node_options_t node4_options = rcl_node_get_default_options();
ret = rcl_node_init(node4_ptr, node4_name, node4_namespace, &node4_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
std::this_thread::sleep_for(1s);
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
ret = rcl_get_node_names(node1_ptr, node1_options.allocator, &node_names);
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
ret = rcl_get_node_names(node1_ptr, node1_options.allocator, &node_names, &node_namespaces);
ASSERT_EQ(RCUTILS_RET_OK, ret) << rcl_get_error_string_safe();
std::stringstream ss;
@ -74,13 +93,24 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
for (size_t i = 0; i < node_names.size; ++i) {
ss << node_names.data[i] << std::endl;
}
EXPECT_EQ(size_t(2), node_names.size) << ss.str();
EXPECT_EQ(size_t(4), node_names.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
EXPECT_EQ(0, strcmp(node3_name, node_names.data[2]));
EXPECT_EQ(0, strcmp(node4_name, node_names.data[3]));
EXPECT_EQ(size_t(4), node_namespaces.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_namespace, node_namespaces.data[0]));
EXPECT_EQ(0, strcmp(node2_namespace, node_namespaces.data[1]));
EXPECT_EQ(0, strcmp(node3_namespace, node_namespaces.data[2]));
EXPECT_EQ(0, strcmp(node4_namespace, node_namespaces.data[3]));
ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcl_node_fini(node1_ptr);
delete node1_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@ -89,6 +119,14 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
delete node2_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_node_fini(node3_ptr);
delete node3_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_node_fini(node4_ptr);
delete node4_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}