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Update graph API return codes. (#459)
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This patch affects:
- rmw_get_node_names()
- rmw_get_node_names_with_enclaves()
- rmw_get_topic_names_and_types()
- rmw_get_service_names_and_types()
- rmw_get_publishers_info_by_topic()
- rmw_get_subscriptions_info_by_topic()
- rmw_get_subscriber_names_and_types_by_node()
- rmw_get_publisher_names_and_types_by_node()
- rmw_get_service_names_and_types_by_node()
- rmw_get_client_names_and_types_by_node()
- rmw_count_publishers()
- rmw_count_subscribers()

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@hidmic @ahcorde
hidmic authored and ahcorde committed Oct 15, 2020
1 parent 96cc4c8 commit 439f3ea
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Showing 6 changed files with 139 additions and 180 deletions.
78 changes: 34 additions & 44 deletions rmw_connext_shared_cpp/src/count.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@
#include "rmw_connext_shared_cpp/types.hpp"

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/validate_full_topic_name.h"

rmw_ret_t
count_publishers(
Expand All @@ -27,32 +29,26 @@ count_publishers(
const char * topic_name,
size_t * count)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
}
if (!topic_name) {
RMW_SET_ERROR_MSG("topic name is null");
return RMW_RET_ERROR;
}
if (!count) {
RMW_SET_ERROR_MSG("count handle is null");
return RMW_RET_ERROR;
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}
if (!node_info->publisher_listener) {
RMW_SET_ERROR_MSG("publisher listener handle is null");
return RMW_RET_ERROR;
}

*count = node_info->publisher_listener->count_topic(topic_name);

Expand All @@ -66,32 +62,26 @@ count_subscribers(
const char * topic_name,
size_t * count)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
}
if (!topic_name) {
RMW_SET_ERROR_MSG("topic name is null");
return RMW_RET_ERROR;
}
if (!count) {
RMW_SET_ERROR_MSG("count handle is null");
return RMW_RET_ERROR;
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}
if (!node_info->subscriber_listener) {
RMW_SET_ERROR_MSG("subscriber listener handle is null");
return RMW_RET_ERROR;
}

*count = node_info->subscriber_listener->count_topic(topic_name);

Expand Down
115 changes: 56 additions & 59 deletions rmw_connext_shared_cpp/src/node_info_and_types.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@
#include "rmw/impl/cpp/key_value.hpp"
#include "rmw/names_and_types.h"
#include "rmw/rmw.h"
#include "rmw/validate_node_name.h"
#include "rmw/validate_namespace.h"

#include "rmw_connext_shared_cpp/node_info_and_types.hpp"
#include "rmw_connext_shared_cpp/types.hpp"
Expand Down Expand Up @@ -132,12 +134,24 @@ validate_names_and_namespace(
const char * node_name,
const char * node_namespace)
{
if (!node_name) {
RMW_SET_ERROR_MSG("null node name");
int validation_result = RMW_NODE_NAME_VALID;
rmw_ret_t ret = rmw_validate_node_name(node_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_NODE_NAME_VALID != validation_result) {
const char * reason = rmw_node_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
if (!node_namespace) {
RMW_SET_ERROR_MSG("null node namespace");
validation_result = RMW_NAMESPACE_VALID;
ret = rmw_validate_namespace(node_namespace, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_NAMESPACE_VALID != validation_result) {
const char * reason = rmw_namespace_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_namespace argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
return RMW_RET_OK;
Expand All @@ -153,29 +167,24 @@ get_subscriber_names_and_types_by_node(
bool no_demangle,
rmw_names_and_types_t * topic_names_and_types)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
}

rmw_ret_t ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (ret != RMW_RET_OK) {
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
rmw_ret_t ret = validate_names_and_namespace(node_name, node_namespace);
if (RMW_RET_OK != ret) {
return ret;
}
ret = validate_names_and_namespace(node_name, node_namespace);
if (ret != RMW_RET_OK) {
ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (RMW_RET_OK != ret) {
return ret;
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}

DDS::GUID_t key;
auto get_guid_err = __get_key(node_info, node_name, node_namespace, key);
Expand All @@ -200,29 +209,24 @@ get_publisher_names_and_types_by_node(
bool no_demangle,
rmw_names_and_types_t * topic_names_and_types)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
}

rmw_ret_t ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (ret != RMW_RET_OK) {
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
rmw_ret_t ret = validate_names_and_namespace(node_name, node_namespace);
if (RMW_RET_OK != ret) {
return ret;
}
ret = validate_names_and_namespace(node_name, node_namespace);
if (ret != RMW_RET_OK) {
ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (RMW_RET_OK != ret) {
return ret;
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}

DDS::GUID_t key;
auto get_guid_err = __get_key(node_info, node_name, node_namespace, key);
Expand All @@ -248,25 +252,24 @@ __get_service_names_and_types_by_node(
rmw_names_and_types_t * service_names_and_types,
const char * suffix)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
rmw_ret_t ret = validate_names_and_namespace(node_name, node_namespace);
if (RMW_RET_OK != ret) {
return ret;
}

rmw_ret_t ret = rmw_names_and_types_check_zero(service_names_and_types);
if (ret != RMW_RET_OK) {
ret = rmw_names_and_types_check_zero(service_names_and_types);
if (RMW_RET_OK != ret) {
return ret;
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}

DDS::GUID_t key;
auto get_guid_err = __get_key(node_info, node_name, node_namespace, key);
Expand All @@ -278,13 +281,7 @@ __get_service_names_and_types_by_node(
std::map<std::string, std::set<std::string>> services;
node_info->subscriber_listener->fill_service_names_and_types_by_guid(services, key, suffix);

rmw_ret_t rmw_ret =
copy_services_to_names_and_types(services, allocator, service_names_and_types);
if (rmw_ret != RMW_RET_OK) {
return rmw_ret;
}

return RMW_RET_OK;
return copy_services_to_names_and_types(services, allocator, service_names_and_types);
}

rmw_ret_t
Expand Down
27 changes: 13 additions & 14 deletions rmw_connext_shared_cpp/src/node_names.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/key_value.hpp"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/sanity_checks.h"

#include "rmw_connext_shared_cpp/ndds_include.hpp"
Expand All @@ -35,19 +36,17 @@ get_node_names_impl(
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * enclaves)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
return RMW_RET_ERROR;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
return RMW_RET_INVALID_ARGUMENT;
}
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;
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
return RMW_RET_INVALID_ARGUMENT;
}

DDS::DomainParticipant * participant = static_cast<ConnextNodeInfo *>(node->data)->participant;
Expand Down Expand Up @@ -325,8 +324,8 @@ get_node_names_with_enclaves(
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * enclaves)
{
if (rmw_check_zero_rmw_string_array(enclaves) != RMW_RET_OK) {
return RMW_RET_ERROR;
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(enclaves)) {
return RMW_RET_INVALID_ARGUMENT;
}
return get_node_names_impl(
implementation_identifier, node, node_names, node_namespaces, enclaves);
Expand Down
36 changes: 10 additions & 26 deletions rmw_connext_shared_cpp/src/service_names_and_types.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"

#include "rmw_connext_shared_cpp/demangle.hpp"
#include "rmw_connext_shared_cpp/names_and_types_helpers.hpp"
Expand All @@ -37,36 +38,19 @@ get_service_names_and_types(
rcutils_allocator_t * allocator,
rmw_names_and_types_t * service_names_and_types)
{
if (!allocator) {
RMW_SET_ERROR_MSG("allocator is null");
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
implementation_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
if (RMW_RET_OK != rmw_names_and_types_check_zero(service_names_and_types)) {
return RMW_RET_INVALID_ARGUMENT;
}
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}
if (node->implementation_identifier != implementation_identifier) {
RMW_SET_ERROR_MSG("node handle is not from this rmw implementation");
return RMW_RET_ERROR;
}
rmw_ret_t ret = rmw_names_and_types_check_zero(service_names_and_types);
if (ret != RMW_RET_OK) {
return ret;
}

auto node_info = static_cast<ConnextNodeInfo *>(node->data);
if (!node_info) {
RMW_SET_ERROR_MSG("node info handle is null");
return RMW_RET_ERROR;
}
if (!node_info->publisher_listener) {
RMW_SET_ERROR_MSG("publisher listener handle is null");
return RMW_RET_ERROR;
}
if (!node_info->subscriber_listener) {
RMW_SET_ERROR_MSG("subscriber listener handle is null");
return RMW_RET_ERROR;
}

// combine publisher and subscriber information
std::map<std::string, std::set<std::string>> services;
Expand Down
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