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Add function for getting clients by node (#459)
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* Add graph test for service clients

There were tests for publishers, subscriptions, and services, but not clients.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add function for getting clients by node

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update service client graph test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix doc sentence

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update docs

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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jacobperron authored Jul 9, 2019
1 parent ad1c4f1 commit 21ff57b
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49 changes: 47 additions & 2 deletions rcl/include/rcl/graph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ rcl_get_subscriber_names_and_types_by_node(
const char * node_namespace,
rcl_names_and_types_t * topic_names_and_types);

/// Return a list of service names and types for associated with a node.
/// Return a list of service names and types associated with a node.
/**
* The `node` parameter must point to a valid node.
*
Expand All @@ -148,7 +148,7 @@ rcl_get_subscriber_names_and_types_by_node(
* \see rcl_get_publisher_names_and_types_by_node for details on the `no_demangle` parameter.
*
* The returned names are not automatically remapped by this function.
* Attempting to create clients or services using names returned by this function may not
* Attempting to create service clients using names returned by this function may not
* result in the desired service name being used depending on the remap rules in use.
*
* <hr>
Expand Down Expand Up @@ -180,6 +180,51 @@ rcl_get_service_names_and_types_by_node(
const char * node_namespace,
rcl_names_and_types_t * service_names_and_types);

/// Return a list of service client names and types associated with a node.
/**
* The `node` parameter must point to a valid node.
*
* The `service_names_and_types` parameter must be allocated and zero initialized.
* This function allocates memory for the returned list of names and types and so it is the
* callers responsibility to pass `service_names_and_types` to rcl_names_and_types_fini()
* when it is no longer needed.
* Failing to do so will result in leaked memory.
*
* \see rcl_get_publisher_names_and_types_by_node for details on the `no_demangle` parameter.
*
* The returned names are not automatically remapped by this function.
* Attempting to create service servers using names returned by this function may not
* result in the desired service name being used depending on the remap rules in use.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Maybe [1]
* <i>[1] implementation may need to protect the data structure with a lock</i>
*
* \param[in] node the handle to the node being used to query the ROS graph
* \param[in] allocator allocator to be used when allocating space for strings
* \param[in] node_name the node name of the services to return
* \param[in] node_namespace the node namespace of the services to return
* \param[out] service_names_and_types list of service client names and their types
* \return `RCL_RET_OK` if the query was successful, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_get_client_names_and_types_by_node(
const rcl_node_t * node,
rcl_allocator_t * allocator,
const char * node_name,
const char * node_namespace,
rcl_names_and_types_t * service_names_and_types);

/// Return a list of topic names and their types.
/**
* The `node` parameter must point to a valid node.
Expand Down
36 changes: 36 additions & 0 deletions rcl/src/rcl/graph.c
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,42 @@ rcl_get_service_names_and_types_by_node(
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

rcl_ret_t
rcl_get_client_names_and_types_by_node(
const rcl_node_t * node,
rcl_allocator_t * allocator,
const char * node_name,
const char * node_namespace,
rcl_names_and_types_t * service_names_and_types)
{
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);

const char * valid_namespace = "/";
if (strlen(node_namespace) > 0) {
valid_namespace = node_namespace;
}
rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
if (rmw_ret != RMW_RET_OK) {
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}
rcutils_allocator_t rcutils_allocator = *allocator;
rmw_ret = rmw_get_client_names_and_types_by_node(
rcl_node_get_rmw_handle(node),
&rcutils_allocator,
node_name,
valid_namespace,
service_names_and_types
);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

rcl_ret_t
rcl_get_topic_names_and_types(
const rcl_node_t * node,
Expand Down
118 changes: 110 additions & 8 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -516,6 +516,78 @@ TEST_F(
rcl_reset_error();
}

/* Test the rcl_get_client_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_client_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * unknown_node_name = "/test_rcl_get_client_names_and_types_by_node";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_client_names_and_types_by_node(
nullptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_client_names_and_types_by_node(
&zero_node, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_client_names_and_types_by_node(
this->old_node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, nullptr, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &zero_allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, nullptr, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// test valid strings with invalid node names
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, "", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, "_InvalidNodeName", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names and types
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, unknown_node_name, "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid call
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

/* Test the rcl_count_publishers function.
*
* This does not test content of the response.
Expand Down Expand Up @@ -728,6 +800,7 @@ struct expected_node_state
size_t publishers;
size_t subscribers;
size_t services;
size_t clients;
};

/**
Expand All @@ -740,7 +813,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
std::string topic_name = "/test_node_info_functions__";
rcl_node_t * remote_node_ptr;
rcl_allocator_t allocator = rcl_get_default_allocator();
GetTopicsFunc sub_func, pub_func, service_func;
GetTopicsFunc sub_func, pub_func, service_func, client_func;
rcl_context_t * remote_context_ptr;

void SetUp() override
Expand Down Expand Up @@ -787,6 +860,12 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
std::placeholders::_2,
"/",
std::placeholders::_3);
client_func = std::bind(rcl_get_client_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
std::placeholders::_2,
"/",
std::placeholders::_3);
WaitForAllNodesAlive();
}

Expand Down Expand Up @@ -858,6 +937,9 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
expect_topics_types(node, service_func, node_state.services,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking clients from node");
expect_topics_types(node, client_func, node_state.clients,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
expect_topics_types(node, pub_func, node_state.publishers,
test_graph_node_name, is_expect, is_success);
Expand All @@ -871,6 +953,9 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from remote node");
expect_topics_types(node, service_func, remote_node_state.services,
this->remote_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking clients from remote node");
expect_topics_types(node, client_func, remote_node_state.clients,
this->remote_node_name, is_expect, is_success);
if (!is_success) {
ret = rcl_wait_set_clear(wait_set_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -917,19 +1002,19 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_subscriptions)
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

VerifySubsystemCount(expected_node_state{1, 1, 0}, expected_node_state{1, 1, 0});
VerifySubsystemCount(expected_node_state{1, 1, 0, 0}, expected_node_state{1, 1, 0, 0});

// Destroy the node's subscriber
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 1, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 1, 0, 0});

// Destroy the remote node's subdscriber
ret = rcl_subscription_fini(&sub2, this->remote_node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
Expand All @@ -942,14 +1027,14 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
ret = rcl_publisher_init(&pub, this->node_ptr, ts, this->topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{2, 0, 0}, expected_node_state{1, 0, 0});
VerifySubsystemCount(expected_node_state{2, 0, 0, 0}, expected_node_state{1, 0, 0, 0});

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Destroyed publisher");
// Destroy the publisher.
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
Expand All @@ -961,12 +1046,29 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_service_init(&service, this->node_ptr, ts1, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 1}, expected_node_state{1, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 1, 0}, expected_node_state{1, 0, 0, 0});

// Destroy service.
ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_clients)
{
rcl_ret_t ret;
const char * service_name = "test_service";
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0, 1}, expected_node_state{1, 0, 0, 0});

// Destroy client
ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

/*
Expand Down

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