Update graph API return codes. (#243)
This patch affects: - rmw_get_node_names() - rmw_get_node_names_with_enclaves() - rmw_get_topic_names_and_types() - rmw_get_service_names_and_types() - rmw_get_publishers_info_by_topic() - rmw_get_subscriptions_info_by_topic() - rmw_get_subscriber_names_and_types_by_node() - rmw_get_publisher_names_and_types_by_node() - rmw_get_service_names_and_types_by_node() - rmw_get_client_names_and_types_by_node() - rmw_count_publishers() - rmw_count_subscribers() Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo
Alejandro Hernández Cordero
parent
c65c015682
commit
914037bd29
1 changed files with 144 additions and 34 deletions
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@ -4060,12 +4060,17 @@ extern "C" rmw_ret_t rmw_get_node_names(
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rcutils_string_array_t * node_names,
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rcutils_string_array_t * node_namespaces)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
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RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
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{
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return RMW_RET_ERROR;
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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auto common_context = &node->context->impl->common;
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@ -4083,12 +4088,20 @@ extern "C" rmw_ret_t rmw_get_node_names_with_enclaves(
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rcutils_string_array_t * node_namespaces,
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rcutils_string_array_t * enclaves)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
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RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
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{
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return RMW_RET_ERROR;
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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if (RMW_RET_OK != rmw_check_zero_rmw_string_array(enclaves)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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auto common_context = &node->context->impl->common;
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@ -4105,12 +4118,16 @@ extern "C" rmw_ret_t rmw_get_topic_names_and_types(
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rcutils_allocator_t * allocator,
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bool no_demangle, rmw_names_and_types_t * tptyp)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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RET_NULL(allocator);
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rmw_ret_t ret = rmw_names_and_types_check_zero(tptyp);
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if (ret != RMW_RET_OK) {
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return ret;
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
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if (RMW_RET_OK != rmw_names_and_types_check_zero(tptyp)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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DemangleFunction demangle_topic = _demangle_ros_topic_from_topic;
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@ -4132,6 +4149,18 @@ extern "C" rmw_ret_t rmw_get_service_names_and_types(
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rcutils_allocator_t * allocator,
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rmw_names_and_types_t * sntyp)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
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if (RMW_RET_OK != rmw_names_and_types_check_zero(sntyp)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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auto common_context = &node->context->impl->common;
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return common_context->graph_cache.get_names_and_types(
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_demangle_service_from_topic,
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@ -4242,6 +4271,25 @@ extern "C" rmw_ret_t rmw_count_publishers(
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const rmw_node_t * node, const char * topic_name,
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size_t * count)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
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int validation_result = RMW_TOPIC_VALID;
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rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
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if (RMW_RET_OK != ret) {
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return ret;
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}
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if (RMW_TOPIC_VALID != validation_result) {
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const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
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RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
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return RMW_RET_INVALID_ARGUMENT;
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}
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RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
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auto common_context = &node->context->impl->common;
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const std::string mangled_topic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", false);
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return common_context->graph_cache.get_writer_count(mangled_topic_name, count);
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@ -4251,6 +4299,25 @@ extern "C" rmw_ret_t rmw_count_subscribers(
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const rmw_node_t * node, const char * topic_name,
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size_t * count)
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{
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
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int validation_result = RMW_TOPIC_VALID;
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rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
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if (RMW_RET_OK != ret) {
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return ret;
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}
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if (RMW_TOPIC_VALID != validation_result) {
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const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
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RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
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return RMW_RET_INVALID_ARGUMENT;
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}
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RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
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auto common_context = &node->context->impl->common;
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const std::string mangled_topic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", false);
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return common_context->graph_cache.get_reader_count(mangled_topic_name, count);
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@ -4276,12 +4343,39 @@ static rmw_ret_t get_topic_names_and_types_by_node(
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GetNamesAndTypesByNodeFunction get_names_and_types_by_node,
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rmw_names_and_types_t * topic_names_and_types)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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RET_NULL(allocator);
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RET_NULL(node_name);
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RET_NULL(node_namespace);
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RET_NULL(topic_names_and_types);
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
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int validation_result = RMW_NODE_NAME_VALID;
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rmw_ret_t ret = rmw_validate_node_name(node_name, &validation_result, nullptr);
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if (RMW_RET_OK != ret) {
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return ret;
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}
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if (RMW_NODE_NAME_VALID != validation_result) {
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const char * reason = rmw_node_name_validation_result_string(validation_result);
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RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_name argument is invalid: %s", reason);
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return RMW_RET_INVALID_ARGUMENT;
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}
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validation_result = RMW_NAMESPACE_VALID;
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ret = rmw_validate_namespace(node_namespace, &validation_result, nullptr);
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if (RMW_RET_OK != ret) {
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return ret;
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}
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if (RMW_NAMESPACE_VALID != validation_result) {
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const char * reason = rmw_namespace_validation_result_string(validation_result);
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RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_namespace argument is invalid: %s", reason);
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return RMW_RET_INVALID_ARGUMENT;
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}
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ret = rmw_names_and_types_check_zero(topic_names_and_types);
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if (RMW_RET_OK != ret) {
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return ret;
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}
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auto common_context = &node->context->impl->common;
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if (no_demangle) {
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demangle_topic = _identity_demangle;
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@ -4406,11 +4500,19 @@ extern "C" rmw_ret_t rmw_get_publishers_info_by_topic(
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bool no_mangle,
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rmw_topic_endpoint_info_array_t * publishers_info)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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RET_NULL(allocator);
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RET_NULL(topic_name);
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RET_NULL(publishers_info);
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
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if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(publishers_info)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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auto common_context = &node->context->impl->common;
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std::string mangled_topic_name = topic_name;
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DemangleFunction demangle_type = _identity_demangle;
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@ -4432,11 +4534,19 @@ extern "C" rmw_ret_t rmw_get_subscriptions_info_by_topic(
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bool no_mangle,
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rmw_topic_endpoint_info_array_t * subscriptions_info)
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{
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RET_NULL(node);
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RET_WRONG_IMPLID(node);
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RET_NULL(allocator);
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RET_NULL(topic_name);
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RET_NULL(subscriptions_info);
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RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
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node,
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node->implementation_identifier,
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eclipse_cyclonedds_identifier,
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return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
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RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
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if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(subscriptions_info)) {
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return RMW_RET_INVALID_ARGUMENT;
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}
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auto common_context = &node->context->impl->common;
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std::string mangled_topic_name = topic_name;
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DemangleFunction demangle_type = _identity_demangle;
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