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Use namespaces (#328)
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* add expand_topic_or_service_name()

* use namespace in intra process

(actual change to topic names in next commit)

* catch and report name issues

for node names, namespaces, and topic/service names

* address comment
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wjwwood committed May 31, 2017
1 parent 708903e commit b906768
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Showing 19 changed files with 986 additions and 79 deletions.
61 changes: 61 additions & 0 deletions rclcpp/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/exceptions.cpp
src/rclcpp/executor.cpp
src/rclcpp/executors.cpp
src/rclcpp/expand_topic_or_service_name.cpp
src/rclcpp/executors/multi_threaded_executor.cpp
src/rclcpp/executors/single_threaded_executor.cpp
src/rclcpp/graph_listener.cpp
Expand Down Expand Up @@ -92,6 +93,26 @@ if(BUILD_TESTING)

find_package(rmw_implementation_cmake REQUIRED)

ament_add_gtest(test_client test/test_client.cpp)
if(TARGET test_client)
target_include_directories(test_client PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_client ${PROJECT_NAME})
endif()
ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
if(TARGET test_expand_topic_or_service_name)
target_include_directories(test_expand_topic_or_service_name PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
endif()
ament_add_gtest(test_function_traits test/test_function_traits.cpp)
if(TARGET test_function_traits)
target_include_directories(test_function_traits PUBLIC
Expand Down Expand Up @@ -121,6 +142,26 @@ if(BUILD_TESTING)
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_node test/test_node.cpp)
if(TARGET test_node)
target_include_directories(test_node PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_node ${PROJECT_NAME})
endif()
ament_add_gtest(test_publisher test/test_publisher.cpp)
if(TARGET test_publisher)
target_include_directories(test_publisher PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_publisher ${PROJECT_NAME})
endif()
ament_add_gtest(test_rate test/test_rate.cpp
ENV RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation})
if(TARGET test_rate)
Expand All @@ -134,6 +175,26 @@ if(BUILD_TESTING)
${PROJECT_NAME}
)
endif()
ament_add_gtest(test_service test/test_service.cpp)
if(TARGET test_service)
target_include_directories(test_service PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_service ${PROJECT_NAME})
endif()
ament_add_gtest(test_subscription test/test_subscription.cpp)
if(TARGET test_subscription)
target_include_directories(test_subscription PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
${rosidl_typesupport_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_subscription ${PROJECT_NAME})
endif()
ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
if(TARGET test_find_weak_nodes)
target_include_directories(test_find_weak_nodes PUBLIC
Expand Down
39 changes: 25 additions & 14 deletions rclcpp/include/rclcpp/client.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -27,11 +27,13 @@
#include "rcl/error_handling.h"
#include "rcl/wait.h"

#include "rclcpp/exceptions.hpp"
#include "rclcpp/function_traits.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/visibility_control.hpp"

#include "rmw/error_handling.h"
Expand Down Expand Up @@ -138,22 +140,33 @@ class Client : public ClientBase
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle =
get_service_type_support_handle<ServiceT>();
if (rcl_client_init(&client_handle_, this->get_rcl_node_handle(),
service_type_support_handle, service_name.c_str(), &client_options) != RCL_RET_OK)
{
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("could not create client: ") +
rcl_get_error_string_safe());
// *INDENT-ON*
rcl_ret_t ret = rcl_client_init(
&client_handle_,
this->get_rcl_node_handle(),
service_type_support_handle,
service_name.c_str(),
&client_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_SERVICE_NAME_INVALID) {
auto rcl_node_handle = this->get_rcl_node_handle();
// this will throw on any validation problem
rcl_reset_error();
expand_topic_or_service_name(
service_name,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle),
true);
}
rclcpp::exceptions::throw_from_rcl_error(ret, "could not create client");
}
}

virtual ~Client()
{
if (rcl_client_fini(&client_handle_, this->get_rcl_node_handle()) != RCL_RET_OK) {
fprintf(stderr,
"Error in destruction of rmw client handle: %s\n", rmw_get_error_string_safe());
"Error in destruction of rcl client handle: %s\n", rcl_get_error_string_safe());
rcl_reset_error();
}
}

Expand Down Expand Up @@ -212,11 +225,9 @@ class Client : public ClientBase
{
std::lock_guard<std::mutex> lock(pending_requests_mutex_);
int64_t sequence_number;
if (RCL_RET_OK != rcl_send_request(get_client_handle(), request.get(), &sequence_number)) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("failed to send request: ") + rcl_get_error_string_safe());
// *INDENT-ON*
rcl_ret_t ret = rcl_send_request(get_client_handle(), request.get(), &sequence_number);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
}

SharedPromise call_promise = std::make_shared<Promise>();
Expand Down
74 changes: 72 additions & 2 deletions rclcpp/include/rclcpp/exceptions.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -35,18 +35,88 @@ class InvalidNodeError : public std::runtime_error
: std::runtime_error("node is invalid") {}
};

/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
class NameValidationError : public std::invalid_argument
{
public:
NameValidationError(
const char * name_type_,
const char * name_,
const char * error_msg_,
size_t invalid_index_)
: std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
{}

static std::string
format_error(
const char * name_type,
const char * name,
const char * error_msg,
size_t invalid_index);

const std::string name_type;
const std::string name;
const std::string error_msg;
const size_t invalid_index;
};

/// Thrown when a node name is invalid.
class InvalidNodeNameError : public NameValidationError
{
public:
InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
: NameValidationError("node name", node_name, error_msg, invalid_index)
{}
};

/// Thrown when a node namespace is invalid.
class InvalidNamespaceError : public NameValidationError
{
public:
InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
: NameValidationError("namespace", namespace_, error_msg, invalid_index)
{}
};

/// Thrown when a topic name is invalid.
class InvalidTopicNameError : public NameValidationError
{
public:
InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
: NameValidationError("topic name", namespace_, error_msg, invalid_index)
{}
};

/// Thrown when a service name is invalid.
class InvalidServiceNameError : public NameValidationError
{
public:
InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
: NameValidationError("service name", namespace_, error_msg, invalid_index)
{}
};

/// Throw a C++ std::exception which was created based on an rcl error.
/**
* Passing nullptr for reset_error is safe and will avoid calling any function
* to reset the error.
*
* \param ret the return code for the current error state
* \param prefix string to prefix to the error if applicable (not all errors have custom messages)
* \param reset_error if true rcl_reset_error() is called before returning
* \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
* \param reset_error function to be called before throwing which whill clear the error state
* \throws std::invalid_argument if ret is RCL_RET_OK
* \throws std::runtime_error if the rcl_get_error_state returns 0
* \throws RCLErrorBase some child class exception based on ret
*/
RCLCPP_PUBLIC
void
throw_from_rcl_error(rcl_ret_t ret, const std::string & prefix = "", bool reset_error = true);
throw_from_rcl_error(
rcl_ret_t ret,
const std::string & prefix = "",
const rcl_error_state_t * error_state = nullptr,
void (* reset_error)() = rcl_reset_error);

class RCLErrorBase
{
Expand Down
63 changes: 63 additions & 0 deletions rclcpp/include/rclcpp/expand_topic_or_service_name.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,63 @@
// Copyright 2017 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.

#ifndef RCLCPP__EXPAND_TOPIC_OR_SERVICE_NAME_HPP_
#define RCLCPP__EXPAND_TOPIC_OR_SERVICE_NAME_HPP_

#include <string>

#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{

/// Expand a topic or service name and throw if it is not valid.
/**
* This function can be used to "just" validate a topic or service name too,
* since expanding the topic name is required to fully validate a name.
*
* If the name is invalid, then InvalidTopicNameError is thrown or
* InvalidServiceNameError if is_service is true.
*
* This function can take any form of a topic or service name, i.e. it does not
* have to be a fully qualified name.
* The node name and namespace are used to expand it if necessary while
* validating it.
*
* Expansion is done with rcl_expand_topic_name.
* The validation is doen with rcl_validate_topic_name and
* rmw_validate_full_topic_name, so details about failures can be found in the
* documentation for those functions.
*
* \param name the topic or service name to be validated
* \param node_name the name of the node associated with the name
* \param namespace_ the namespace of the node associated with the name
* \param is_service if true InvalidServiceNameError is thrown instead
* \returns expanded (and validated) topic name
* \throws InvalidTopicNameError if name is invalid and is_service is false
* \throws InvalidServiceNameError if name is invalid and is_service is true
* \throws std::bad_alloc if memory cannot be allocated
* \throws RCLError if an unexpect error occurs
*/
RCLCPP_PUBLIC
std::string
expand_topic_or_service_name(
const std::string & name,
const std::string & node_name,
const std::string & namespace_,
bool is_service = false);

} // namespace rclcpp

#endif // RCLCPP__EXPAND_TOPIC_OR_SERVICE_NAME_HPP_
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/intra_process_manager.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ namespace intra_process_manager
* When a publisher is created, it advertises on the topic the user provided,
* as well as a "shadowing" topic of type rcl_interfaces/IntraProcessMessage.
* For instance, if the user specified the topic '/namespace/chatter', then the
* corresponding intra process topic might be '/namespace/chatter__intra'.
* corresponding intra process topic might be '/namespace/chatter/_intra'.
* The publisher is also allocated an id which is unique among all publishers
* and subscriptions in this process.
* Additionally, when registered with this class a ring buffer is created and
Expand Down
37 changes: 27 additions & 10 deletions rclcpp/include/rclcpp/service.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,10 @@
#include "rcl/service.h"

#include "rclcpp/any_service_callback.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
Expand Down Expand Up @@ -70,6 +72,10 @@ class ServiceBase
protected:
RCLCPP_DISABLE_COPY(ServiceBase)

RCLCPP_PUBLIC
rcl_node_t *
get_rcl_node_handle() const;

std::shared_ptr<rcl_node_t> node_handle_;

rcl_service_t * service_handle_ = nullptr;
Expand Down Expand Up @@ -109,12 +115,25 @@ class Service : public ServiceBase
service_handle_ = new rcl_service_t;
*service_handle_ = rcl_get_zero_initialized_service();

if (rcl_service_init(
service_handle_, node_handle.get(), service_type_support_handle, service_name.c_str(),
&service_options) != RCL_RET_OK)
{
throw std::runtime_error(std::string("could not create service: ") +
rcl_get_error_string_safe());
rcl_ret_t ret = rcl_service_init(
service_handle_,
node_handle.get(),
service_type_support_handle,
service_name.c_str(),
&service_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_SERVICE_NAME_INVALID) {
auto rcl_node_handle = get_rcl_node_handle();
// this will throw on any validation problem
rcl_reset_error();
expand_topic_or_service_name(
service_name,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle),
true);
}

rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
}
}

Expand Down Expand Up @@ -151,6 +170,7 @@ class Service : public ServiceBase
ss << "Error in destruction of rcl service_handle_ handle: " <<
rcl_get_error_string_safe() << '\n';
(std::cerr << ss.str()).flush();
rcl_reset_error();
}
}
}
Expand Down Expand Up @@ -183,10 +203,7 @@ class Service : public ServiceBase
rcl_ret_t status = rcl_send_response(get_service_handle(), req_id.get(), response.get());

if (status != RCL_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
throw std::runtime_error(
std::string("failed to send response: ") + rcl_get_error_string_safe());
// *INDENT-ON*
rclcpp::exceptions::throw_from_rcl_error(status, "failed to send response");
}
}

Expand Down
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