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Include node namespaces in get_node_names #224

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merged 5 commits into from
Sep 6, 2018
Merged

Include node namespaces in get_node_names #224

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33f66a2
Include node namespaces in get_node_names.
mjcarroll Aug 28, 2018
81cb66f
Remove debug printf.
mjcarroll Aug 29, 2018
88e906b
Address reviewer feedback.
mjcarroll Aug 30, 2018
e6b8627
Check snprintf output.
mjcarroll Sep 4, 2018
435dfb7
Fix compiler warning.
mjcarroll Sep 6, 2018
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5 changes: 3 additions & 2 deletions rmw_fastrtps_cpp/src/rmw_node_names.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,10 @@ extern "C"
rmw_ret_t
rmw_get_node_names(
const rmw_node_t * node,
rcutils_string_array_t * node_names)
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
return rmw_fastrtps_shared_cpp::__rmw_get_node_names(
eprosima_fastrtps_identifier, node, node_names);
eprosima_fastrtps_identifier, node, node_names, node_namespaces);
}
} // extern "C"
5 changes: 3 additions & 2 deletions rmw_fastrtps_dynamic_cpp/src/rmw_node_names.cpp
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Expand Up @@ -33,9 +33,10 @@ extern "C"
rmw_ret_t
rmw_get_node_names(
const rmw_node_t * node,
rcutils_string_array_t * node_names)
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
return rmw_fastrtps_shared_cpp::__rmw_get_node_names(
eprosima_fastrtps_identifier, node, node_names);
eprosima_fastrtps_identifier, node, node_names, node_namespaces);
}
} // extern "C"
44 changes: 37 additions & 7 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
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Expand Up @@ -58,25 +58,43 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
// ignore already known GUIDs
if (discovered_names.find(info.rtps.m_guid) == discovered_names.end()) {
auto map = rmw::impl::cpp::parse_key_value(info.rtps.m_userData);
auto found = map.find("name");
auto name_found = map.find("name");
auto ns_found = map.find("namespace");

std::string name;
if (found != map.end()) {
name = std::string(found->second.begin(), found->second.end());
if (name_found != map.end()) {
name = std::string(name_found->second.begin(), name_found->second.end());
}

std::string namespace_;
if (ns_found != map.end()) {
namespace_ = std::string(ns_found->second.begin(), ns_found->second.end());
}

if (name.empty()) {
// use participant name if no name was found in the user data
name = info.rtps.m_RTPSParticipantName;
}
// ignore discovered participants without a name
if (!name.empty()) {
discovered_names[info.rtps.m_guid] = name;
discovered_namespaces[info.rtps.m_guid] = namespace_;
}
}
} else {
auto it = discovered_names.find(info.rtps.m_guid);
// only consider known GUIDs
if (it != discovered_names.end()) {
discovered_names.erase(it);
{
auto it = discovered_names.find(info.rtps.m_guid);
// only consider known GUIDs
if (it != discovered_names.end()) {
discovered_names.erase(it);
}
}
{
auto it = discovered_namespaces.find(info.rtps.m_guid);
// only consider known GUIDs
if (it != discovered_namespaces.end()) {
discovered_namespaces.erase(it);
}
}
}
}
Expand All @@ -91,7 +109,19 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
return names;
}

std::vector<std::string> get_discovered_namespaces() const
{
std::vector<std::string> namespaces(discovered_namespaces.size());
size_t i = 0;
for (auto it : discovered_namespaces) {
namespaces[i++] = it.second;
}
return namespaces;
}


std::map<eprosima::fastrtps::rtps::GUID_t, std::string> discovered_names;
std::map<eprosima::fastrtps::rtps::GUID_t, std::string> discovered_namespaces;
};

#endif // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PARTICIPANT_INFO_HPP_
3 changes: 2 additions & 1 deletion rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
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Expand Up @@ -105,7 +105,8 @@ rmw_ret_t
__rmw_get_node_names(
const char * identifier,
const rmw_node_t * node,
rcutils_string_array_t * node_names);
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
Expand Down
15 changes: 6 additions & 9 deletions rmw_fastrtps_shared_cpp/src/rmw_node.cpp
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Expand Up @@ -251,15 +251,12 @@ __rmw_create_node(
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
participantAttrs.rtps.builtin.writerHistoryMemoryPolicy =
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
// the node name is also set in the user_data
size_t name_length = strlen(name);
const char prefix[6] = "name=";
participantAttrs.rtps.userData.resize(name_length + sizeof(prefix));
memcpy(participantAttrs.rtps.userData.data(), prefix, sizeof(prefix) - 1);
for (size_t i = 0; i < name_length; ++i) {
participantAttrs.rtps.userData[sizeof(prefix) - 1 + i] = name[i];
}
participantAttrs.rtps.userData[sizeof(prefix) - 1 + name_length] = ';';

size_t length = strlen(name) + strlen("name=;") +
strlen(namespace_) + strlen("namespace=;") + 1;
participantAttrs.rtps.userData.resize(length);
snprintf(reinterpret_cast<char *>(participantAttrs.rtps.userData.data()),
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Return code should be checked here too I think.

length, "name=%s;namespace=%s;", name, namespace_);

if (security_options->security_root_path) {
// if security_root_path provided, try to find the key and certificate files
Expand Down
20 changes: 18 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_node_names.cpp
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Expand Up @@ -38,7 +38,8 @@ rmw_ret_t
__rmw_get_node_names(
const char * identifier,
const rmw_node_t * node,
rcutils_string_array_t * node_names)
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
Expand All @@ -47,6 +48,9 @@ __rmw_get_node_names(
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK) {
return RMW_RET_ERROR;
}
if (rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK) {
return RMW_RET_ERROR;
}

// Get participant pointer from node
if (node->implementation_identifier != identifier) {
Expand All @@ -56,6 +60,7 @@ __rmw_get_node_names(

auto impl = static_cast<CustomParticipantInfo *>(node->data);
auto participant_names = impl->listener->get_discovered_names();
auto participant_ns = impl->listener->get_discovered_namespaces();

rcutils_allocator_t allocator = rcutils_get_default_allocator();
rcutils_ret_t rcutils_ret =
Expand All @@ -64,15 +69,26 @@ __rmw_get_node_names(
RMW_SET_ERROR_MSG(rcutils_get_error_string_safe())
return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
}

rcutils_ret =
rcutils_string_array_init(node_namespaces, participant_names.size() + 1, &allocator);
if (rcutils_ret != RCUTILS_RET_OK) {
RMW_SET_ERROR_MSG(rcutils_get_error_string_safe())
return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
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Need to cleanup node_names (at least) before returning here.

}

for (size_t i = 0; i < participant_names.size() + 1; ++i) {
if (0 == i) {
node_names->data[i] = rcutils_strdup(node->name, allocator);
node_namespaces->data[i] = rcutils_strdup(node->namespace_, allocator);
} else {
node_names->data[i] = rcutils_strdup(participant_names[i - 1].c_str(), allocator);
node_namespaces->data[i] = rcutils_strdup(participant_ns[i - 1].c_str(), allocator);
}
if (!node_names->data[i]) {
if (!node_names->data[i] || !node_namespaces->data[i]) {
RMW_SET_ERROR_MSG("failed to allocate memory for node name")
rcutils_ret = rcutils_string_array_fini(node_names);
rcutils_ret = rcutils_string_array_fini(node_namespaces);
if (rcutils_ret != RCUTILS_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_fastrtps_shared_cpp",
Expand Down