Include namespaces in get_node_names.

rcl/include/rcl/graph.h

@@ -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.
 /**

rcl/src/rcl/graph.c

@@ -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);
 }
 

rcl/test/rcl/test_get_node_names.cpp

@@ -52,35 +52,65 @@ 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;
   ss << "[test_rcl_get_node_names]: Found node names:" << std::endl;
   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();
 }