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Add function rcl_names_and_types_init #403

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Mar 18, 2019
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31 changes: 31 additions & 0 deletions rcl/include/rcl/graph.h
Original file line number Diff line number Diff line change
Expand Up @@ -292,6 +292,37 @@ rcl_get_service_names_and_types(
rcl_allocator_t * allocator,
rcl_names_and_types_t * service_names_and_types);

/// Initialize a rcl_names_and_types_t object.
/**
* This function initializes the string array for the names and allocates space
* for all the string arrays for the types according to the given size, but
* it does not initialize the string array for each setup of types.
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* However, the string arrays for each set of types is zero initialized.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[inout] names_and_types object to be initialized
* \param[in] size the number of names and sets of types to be stored
* \param[in] allocator to be used to allocate and deallocate memory
* \returns `RCL_RET_OK` on success, or
* \returns `RCL_RET_INVALID_ARGUMENT` if `names_and_types` is `NULL`, or
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* \returns `RCL_BAD_ALLOC` if memory allocation fails, or
* \returns `RCL_RET_ERROR` when an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_names_and_types_init(
rcl_names_and_types_t * names_and_types,
size_t size,
rcl_allocator_t * allocator);

/// Finalize a rcl_names_and_types_t object.
/**
* The object is populated when given to one of the rcl_get_*_names_and_types()
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11 changes: 11 additions & 0 deletions rcl/src/rcl/graph.c
Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,17 @@ rcl_get_service_names_and_types(
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

rcl_ret_t
rcl_names_and_types_init(
rcl_names_and_types_t * names_and_types,
size_t size,
rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret = rmw_names_and_types_init(names_and_types, size, allocator);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

rcl_ret_t
rcl_names_and_types_fini(rcl_names_and_types_t * topic_names_and_types)
{
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35 changes: 35 additions & 0 deletions rcl/test/rcl/test_graph.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,41 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Test the rcl_names_and_types_init function.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_names_and_types_init
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid names and types
ret = rcl_names_and_types_init(nullptr, 10, &allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_names_and_types_init(&nat, 10, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// zero size
ret = rcl_names_and_types_init(&nat, 0, &allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(nat.names.size, 0u);
ret = rcl_names_and_types_fini(&nat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// non-zero size
size_t num_names = 10u;
ret = rcl_names_and_types_init(&nat, num_names, &allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(nat.names.size, num_names);
for (size_t i = 0; i < num_names; i++) {
EXPECT_EQ(nat.types[i].size, 0u);
}
ret = rcl_names_and_types_fini(&nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Test the rcl_count_publishers function.
*
* This does not test content the response.
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