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Add convenient node method to get a final topic/service name (#835)
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2020 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include "rcl/node.h" | ||
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|
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| #include "rcutils/error_handling.h" | ||
| #include "rcutils/logging_macros.h" | ||
| #include "rcutils/types/string_map.h" | ||
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| #include "rmw/error_handling.h" | ||
| #include "rmw/validate_full_topic_name.h" | ||
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| #include "rcl/error_handling.h" | ||
| #include "rcl/expand_topic_name.h" | ||
| #include "rcl/remap.h" | ||
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|
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| #include "./remap_impl.h" | ||
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| static | ||
| rcl_ret_t | ||
| rcl_resolve_name( | ||
| const rcl_arguments_t * local_args, | ||
| const rcl_arguments_t * global_args, | ||
| const char * input_topic_name, | ||
| const char * node_name, | ||
| const char * node_namespace, | ||
| rcl_allocator_t allocator, | ||
| bool is_service, | ||
| bool only_expand, | ||
| char ** output_topic_name) | ||
| { | ||
| // the other arguments are checked by rcl_expand_topic_name() and rcl_remap_name() | ||
| RCL_CHECK_ARGUMENT_FOR_NULL(output_topic_name, RCL_RET_INVALID_ARGUMENT); | ||
| // Create default topic name substitutions map | ||
| rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map(); | ||
| rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, allocator); | ||
| if (rcutils_ret != RCUTILS_RET_OK) { | ||
| rcutils_error_string_t error = rcutils_get_error_string(); | ||
| rcutils_reset_error(); | ||
| RCL_SET_ERROR_MSG(error.str); | ||
| if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) { | ||
| return RCL_RET_BAD_ALLOC; | ||
| } | ||
| return RCL_RET_ERROR; | ||
| } | ||
| char * expanded_topic_name = NULL; | ||
| char * remapped_topic_name = NULL; | ||
| rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map); | ||
| if (ret != RCL_RET_OK) { | ||
| if (RCL_RET_BAD_ALLOC != ret) { | ||
| ret = RCL_RET_ERROR; | ||
| } | ||
| goto cleanup; | ||
| } | ||
| // expand topic name | ||
| ret = rcl_expand_topic_name( | ||
| input_topic_name, | ||
| node_name, | ||
| node_namespace, | ||
| &substitutions_map, | ||
| allocator, | ||
| &expanded_topic_name); | ||
| if (RCL_RET_OK != ret) { | ||
| goto cleanup; | ||
| } | ||
| // remap topic name | ||
| if (!only_expand) { | ||
| ret = rcl_remap_name( | ||
| local_args, global_args, is_service ? RCL_SERVICE_REMAP : RCL_TOPIC_REMAP, | ||
| expanded_topic_name, node_name, node_namespace, &substitutions_map, allocator, | ||
| &remapped_topic_name); | ||
| if (RCL_RET_OK != ret) { | ||
| goto cleanup; | ||
| } | ||
| } | ||
| if (NULL == remapped_topic_name) { | ||
| remapped_topic_name = expanded_topic_name; | ||
| expanded_topic_name = NULL; | ||
| } | ||
| // validate the result | ||
| int validation_result; | ||
| rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_topic_name, &validation_result, NULL); | ||
| if (rmw_ret != RMW_RET_OK) { | ||
| const char * error = rmw_get_error_string().str; | ||
| rmw_reset_error(); | ||
| RCL_SET_ERROR_MSG(error); | ||
| ret = RCL_RET_ERROR; | ||
| goto cleanup; | ||
| } | ||
| if (validation_result != RMW_TOPIC_VALID) { | ||
| RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result)); | ||
| ret = RCL_RET_TOPIC_NAME_INVALID; | ||
| goto cleanup; | ||
| } | ||
| *output_topic_name = remapped_topic_name; | ||
| remapped_topic_name = NULL; | ||
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| cleanup: | ||
| rcutils_ret = rcutils_string_map_fini(&substitutions_map); | ||
| if (rcutils_ret != RCUTILS_RET_OK) { | ||
| rcutils_error_string_t error = rcutils_get_error_string(); | ||
| rcutils_reset_error(); | ||
| if (RCL_RET_OK == ret) { | ||
| RCL_SET_ERROR_MSG(error.str); | ||
| ret = RCL_RET_ERROR; | ||
| } else { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, | ||
| "failed to fini string_map (%d) during error handling: %s", | ||
| rcutils_ret, | ||
| error.str); | ||
| } | ||
| } | ||
| allocator.deallocate(expanded_topic_name, allocator.state); | ||
| allocator.deallocate(remapped_topic_name, allocator.state); | ||
| if (is_service && RCL_RET_TOPIC_NAME_INVALID == ret) { | ||
| ret = RCL_RET_SERVICE_NAME_INVALID; | ||
| } | ||
| return ret; | ||
| } | ||
|
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| rcl_ret_t | ||
| rcl_node_resolve_name( | ||
| const rcl_node_t * node, | ||
| const char * input_topic_name, | ||
| rcl_allocator_t allocator, | ||
| bool is_service, | ||
| bool only_expand, | ||
| char ** output_topic_name) | ||
| { | ||
| RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT); | ||
| const rcl_node_options_t * node_options = rcl_node_get_options(node); | ||
| if (NULL == node_options) { | ||
| return RCL_RET_ERROR; | ||
| } | ||
| rcl_arguments_t * global_args = NULL; | ||
| if (node_options->use_global_arguments) { | ||
| global_args = &(node->context->global_arguments); | ||
| } | ||
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| return rcl_resolve_name( | ||
| &(node_options->arguments), | ||
| global_args, | ||
| input_topic_name, | ||
| rcl_node_get_name(node), | ||
| rcl_node_get_namespace(node), | ||
| allocator, | ||
| is_service, | ||
| only_expand, | ||
| output_topic_name); | ||
| } |
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