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Expose get_fully_qualified_name in NodeBase API. (#662)

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Signed-off-by: Michael Carroll <michael@openrobotics.org>
This commit is contained in:
Michael Carroll 2019-03-19 13:50:01 -05:00 • committed by GitHub
parent 2929e4b133
commit d8d64e1efc
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6 changed files with 56 additions and 0 deletions
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8
rclcpp/include/rclcpp/node.hpp
View file

@ -115,6 +115,14 @@ public:
const char *
get_namespace() const;
/// Get the fully-qualified name of the node.
/**
* The fully-qualified name includes the local namespace and name of the node.
*/
RCLCPP_PUBLIC
const char *
get_fully_qualified_name() const;
/// Get the logger of the node.
/** \return The logger of the node. */
RCLCPP_PUBLIC

5
rclcpp/include/rclcpp/node_interfaces/node_base.hpp
View file

@ -56,6 +56,11 @@ public:
const char *
get_namespace() const;
RCLCPP_PUBLIC
virtual
const char *
get_fully_qualified_name() const;
RCLCPP_PUBLIC
virtual
rclcpp::Context::SharedPtr

7
rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
View file

@ -56,6 +56,13 @@ public:
const char *
get_namespace() const = 0;
/// Return the fully qualified name of the node.
/** \return The fully qualified name of the node. */
RCLCPP_PUBLIC
virtual
const char *
get_fully_qualified_name() const = 0;
/// Return the context of the node.
/** \return SharedPtr to the node's context. */
RCLCPP_PUBLIC

6
rclcpp/src/rclcpp/node.cpp
View file

@ -190,6 +190,12 @@ Node::get_namespace() const
return node_base_->get_namespace();
}
const char *
Node::get_fully_qualified_name() const
{
return node_base_->get_fully_qualified_name();
}
rclcpp::Logger
Node::get_logger() const
{

6
rclcpp/src/rclcpp/node_interfaces/node_base.cpp
View file

@ -161,6 +161,12 @@ NodeBase::get_namespace() const
return rcl_node_get_namespace(node_handle_.get());
}
const char *
NodeBase::get_fully_qualified_name() const
{
return rcl_node_get_fully_qualified_name(node_handle_.get());
}
rclcpp::Context::SharedPtr
NodeBase::get_context()
{

24
rclcpp/test/test_node.cpp
View file

@ -57,21 +57,45 @@ TEST_F(TestNode, get_name_and_namespace) {
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
}
{
auto options = rclcpp::NodeOptions()
.arguments({"__ns:=/another_ns"});
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/another_ns", node->get_namespace());
EXPECT_STREQ("/another_ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/", node->get_namespace());
EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/", node->get_namespace());
EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
}
{
auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
}
}