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[WIP / Re-Opened] Add functions to return formatted Node Name-Namespace strings (#698)

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* Add functions to return formatted Node Name-Namespace strings

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Changed get_node_names to return fully qualified names, removed namespace method
Signed-off-by: Oswin So <oswinso@gmail.com>

* Removed unnecessary capture-by-reference

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Added first draft of tests

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Fixed bug creating phantom empty name/namespaces

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Re-ordered includes

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Swap checks to see if name is in set

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Fixed style errors from uncrustify

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Swapped to unordered_set

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Re-ordered includes again

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* nitpick: minimize vertical whitespace

see: https://google.github.io/styleguide/cppguide.html#Vertical_Whitespace

Signed-off-by: William Woodall <william@osrfoundation.org>

* Add API documentation for added get_node_names function

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Revert to last known semi-working point

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Modified expected test results

A fully-qualified name is "namespace"/"name". If namespace is set to be "/" (as they are in these tests), we would expect a qualified name of "//name"
Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Have get_node_names determine if central slash needed or not

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Corrected tests to not accept double slashes

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Undo changes to .gitignore

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Change qualified string construction to better handle invalid slashes

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Removed debugging statements

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>

* Simplified slash-checking logic

Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>
This commit is contained in:
jhdcs 2019-05-01 20:56:05 -04:00 • committed by Shane Loretz
parent e9101b49cd
commit a8a0788f81
4 changed files with 53 additions and 11 deletions
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6
rclcpp/include/rclcpp/node.hpp
View file

@ -916,6 +916,12 @@ public:
void
register_param_change_callback(CallbackT && callback);
/// Get the fully-qualified names of all available nodes.
/**
* The fully-qualified name includes the local namespace and name of the node.
* \return A vector of fully-qualified names of nodes.
*/
RCLCPP_PUBLIC
std::vector<std::string>
get_node_names() const;

28
rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
View file

@ -14,6 +14,7 @@
#include "rclcpp/node_interfaces/node_graph.hpp"
#include <algorithm>
#include <map>
#include <string>
#include <utility>
@ -136,9 +137,24 @@ NodeGraph::get_node_names() const
std::vector<std::string> nodes;
auto names_and_namespaces = get_node_names_and_namespaces();
for (const auto & it : names_and_namespaces) {
nodes.push_back(it.first);
}
std::transform(names_and_namespaces.begin(),
names_and_namespaces.end(),
std::back_inserter(nodes),
[](std::pair<std::string, std::string> nns) {
std::string return_string;
if (nns.second.back() == '/') {
return_string = nns.second + nns.first;
} else {
return_string = nns.second + '/' + nns.first;
}
// Quick check to make sure that we start with a slash
// Since fully-qualified strings need to
if (return_string.front() != '/') {
return_string = "/" + return_string;
}
return return_string;
}
);
return nodes;
}
@ -173,10 +189,12 @@ NodeGraph::get_node_names_and_namespaces() const
throw std::runtime_error(error_msg);
}
std::vector<std::pair<std::string, std::string>> node_names(node_names_c.size);
std::vector<std::pair<std::string, std::string>> node_names;
node_names.reserve(node_names_c.size);
for (size_t i = 0; i < node_names_c.size; ++i) {
if (node_names_c.data[i] && node_namespaces_c.data[i]) {
node_names.push_back(std::make_pair(node_names_c.data[i], node_namespaces_c.data[i]));
node_names.emplace_back(node_names_c.data[i], node_namespaces_c.data[i]);
}
}

20
rclcpp/test/test_node.cpp
View file

@ -14,9 +14,10 @@
#include <gtest/gtest.h>
#include <string>
#include <map>
#include <memory>
#include <string>
#include <unordered_set>
#include <vector>
#include "rclcpp/exceptions.hpp"
@ -99,6 +100,23 @@ TEST_F(TestNode, get_name_and_namespace) {
EXPECT_STREQ("/my/ns", node->get_namespace());
EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
}
{
auto node1 = std::make_shared<rclcpp::Node>("my_node1", "my/ns");
auto node2 = std::make_shared<rclcpp::Node>("my_node2", "my/ns");
auto node3 = std::make_shared<rclcpp::Node>("my_node3", "/ns2");
auto node4 = std::make_shared<rclcpp::Node>("my_node4", "my/ns3");
auto names_and_namespaces = node1->get_node_names();
auto name_namespace_set = std::unordered_set<std::string>(names_and_namespaces.begin(),
names_and_namespaces.end());
std::function<bool(std::string)> Set_Contains = [&](std::string string_key)
{
return name_namespace_set.find(string_key) != name_namespace_set.end();
};
EXPECT_TRUE(Set_Contains("/my/ns/my_node1"));
EXPECT_TRUE(Set_Contains("/my/ns/my_node2"));
EXPECT_TRUE(Set_Contains("/ns2/my_node3"));
EXPECT_TRUE(Set_Contains("/my/ns3/my_node4"));
}
}
TEST_F(TestNode, subnode_get_name_and_namespace) {

10
rclcpp_components/test/test_component_manager_api.cpp
View file

@ -117,10 +117,10 @@ TEST_F(TestComponentManager, load_components)
return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
};
EXPECT_TRUE(find_in_nodes("test_component_foo"));
EXPECT_TRUE(find_in_nodes("test_component_bar"));
EXPECT_TRUE(find_in_nodes("test_component_baz"));
EXPECT_TRUE(find_in_nodes("test_component_bing"));
EXPECT_TRUE(find_in_nodes("/test_component_foo"));
EXPECT_TRUE(find_in_nodes("/test_component_bar"));
EXPECT_TRUE(find_in_nodes("/test_component_baz"));
EXPECT_TRUE(find_in_nodes("/ns/test_component_bing"));
}
TEST_F(TestComponentManager, load_invalid_components)
@ -263,7 +263,7 @@ TEST_F(TestComponentManager, unload_component)
auto find_in_nodes = [node_names](std::string name) {
return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
};
EXPECT_TRUE(find_in_nodes("test_component_foo"));
EXPECT_TRUE(find_in_nodes("/test_component_foo"));
{
auto client = node->create_client<composition_interfaces::srv::UnloadNode>(