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Fix regression around fully qualified node name. #402

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merged 3 commits into from
Mar 18, 2019
Merged

Fix regression around fully qualified node name. #402

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dfbf07b
Fix regression around fully qualified node name.
mjcarroll Mar 18, 2019
ba1e93d
Clean up test code based on feedback.
mjcarroll Mar 18, 2019
7a9e5e2
Combine tests to prevent Connext timeout.
mjcarroll Mar 18, 2019
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8 changes: 6 additions & 2 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -241,8 +241,12 @@ rcl_node_init(
local_namespace_ = remapped_namespace;
}

// compute fully qualified name of the node
node->impl->fq_name = rcutils_format_string(*allocator, "%s/%s", local_namespace_, name);
// compute fully qualfied name of the node.
if ('/' == local_namespace_[strlen(local_namespace_) - 1]) {
node->impl->fq_name = rcutils_format_string(*allocator, "%s%s", local_namespace_, name);
} else {
node->impl->fq_name = rcutils_format_string(*allocator, "%s/%s", local_namespace_, name);
}

// node logger name
node->impl->logger_name = rcl_create_node_logger_name(name, local_namespace_, allocator);
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16 changes: 8 additions & 8 deletions rcl/test/rcl/test_get_node_names.cpp
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Expand Up @@ -107,16 +107,16 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
ss << node_names.data[i] << std::endl;
}
EXPECT_EQ(size_t(4), node_names.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
EXPECT_EQ(0, strcmp(node3_name, node_names.data[2]));
EXPECT_EQ(0, strcmp(node4_name, node_names.data[3]));
EXPECT_STREQ(node1_name, node_names.data[0]);
EXPECT_STREQ(node2_name, node_names.data[1]);
EXPECT_STREQ(node3_name, node_names.data[2]);
EXPECT_STREQ(node4_name, node_names.data[3]);

EXPECT_EQ(size_t(4), node_namespaces.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_namespace, node_namespaces.data[0]));
EXPECT_EQ(0, strcmp(node2_namespace, node_namespaces.data[1]));
EXPECT_EQ(0, strcmp(node3_namespace, node_namespaces.data[2]));
EXPECT_EQ(0, strcmp(node4_namespace, node_namespaces.data[3]));
EXPECT_STREQ(node1_namespace, node_namespaces.data[0]);
EXPECT_STREQ(node2_namespace, node_namespaces.data[1]);
EXPECT_STREQ(node3_namespace, node_namespaces.data[2]);
EXPECT_STREQ(node4_namespace, node_namespaces.data[3]);

ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
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160 changes: 160 additions & 0 deletions rcl/test/rcl/test_node.cpp
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Expand Up @@ -708,3 +708,163 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_logger_name
EXPECT_EQ(RCL_RET_OK, ret);
}
}

/* Tests the names and namespaces associated with the node.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names_and_namespaces) {
rcl_ret_t ret;

// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

const char * name = "node";
const char * actual_node_name;
const char * actual_node_namespace;
const char * actual_node_fq_name;
rcl_node_options_t default_options = rcl_node_get_default_options();

// First do a normal node namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
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nit EXPECT_TRUE(actual_node_name) or EXPECT_NE(NULL, actual_node_name)

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same in a few places below

if (actual_node_name) {
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Actually, could remove this check with EXPECT_STREQ("node", actual_node_name). It looks like it handles NULL.

EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is an empty string.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is just a forward slash.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is not absolute.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "ns", &context, &default_options);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Nested namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns/sub_1/sub_2", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns/sub_1/sub_2", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/sub_1/sub_2/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
}