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add : get clients servers info
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Signed-off-by: Minju, Lee <dlalswn531@naver.com>
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@leeminju531
leeminju531 committed Jun 25, 2024
1 parent 28e53eb commit b87740f
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Showing 2 changed files with 150 additions and 0 deletions.
24 changes: 24 additions & 0 deletions rmw_implementation/src/functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -701,6 +701,26 @@ RMW_INTERFACE_FN(
bool,
rmw_topic_endpoint_info_array_t *))

RMW_INTERFACE_FN(
rmw_get_clients_info_by_service,
rmw_ret_t, RMW_RET_ERROR,
5, ARG_TYPES(
const rmw_node_t *,
rcutils_allocator_t *,
const char *,
bool,
rmw_topic_endpoint_info_array_t *))

RMW_INTERFACE_FN(
rmw_get_servers_info_by_service,
rmw_ret_t, RMW_RET_ERROR,
5, ARG_TYPES(
const rmw_node_t *,
rcutils_allocator_t *,
const char *,
bool,
rmw_topic_endpoint_info_array_t *))

RMW_INTERFACE_FN(
rmw_qos_profile_check_compatible,
rmw_ret_t, RMW_RET_ERROR,
Expand Down Expand Up @@ -868,6 +888,8 @@ void prefetch_symbols(void)
GET_SYMBOL(rmw_set_log_severity)
GET_SYMBOL(rmw_get_publishers_info_by_topic)
GET_SYMBOL(rmw_get_subscriptions_info_by_topic)
GET_SYMBOL(rmw_get_clients_info_by_service)
GET_SYMBOL(rmw_get_servers_info_by_service)
GET_SYMBOL(rmw_qos_profile_check_compatible)
GET_SYMBOL(rmw_publisher_get_network_flow_endpoints)
GET_SYMBOL(rmw_subscription_get_network_flow_endpoints)
Expand Down Expand Up @@ -990,6 +1012,8 @@ unload_library()
symbol_rmw_set_log_severity = nullptr;
symbol_rmw_get_publishers_info_by_topic = nullptr;
symbol_rmw_get_subscriptions_info_by_topic = nullptr;
symbol_rmw_get_clients_info_by_service = nullptr;
symbol_rmw_get_servers_info_by_service = nullptr;
symbol_rmw_qos_profile_check_compatible = nullptr;
symbol_rmw_publisher_get_network_flow_endpoints = nullptr;
symbol_rmw_subscription_get_network_flow_endpoints = nullptr;
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126 changes: 126 additions & 0 deletions test_rmw_implementation/test/test_graph_api.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -833,6 +833,132 @@ TEST_F(TestGraphAPI, get_subscriptions_info_by_topic_with_bad_arguments) {
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(TestGraphAPI, get_clients_info_by_service_with_bad_arguments) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
constexpr char topic_name[] = "/test_service";
bool no_mangle = false;
rmw_topic_endpoint_info_array_t clients_info =
rmw_get_zero_initialized_topic_endpoint_info_array();

// A null node is an invalid argument.
rmw_ret_t ret = rmw_get_clients_info_by_service(
nullptr, &allocator, topic_name, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// A node from a different implementation is an invalid argument.
const char * implementation_identifier = node->implementation_identifier;
node->implementation_identifier = "not-an-rmw-implementation-identifier";
ret = rmw_get_clients_info_by_service(
node, &allocator, topic_name, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
node->implementation_identifier = implementation_identifier;
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// A null allocator is an invalid argument.
ret = rmw_get_clients_info_by_service(
node, nullptr, topic_name, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// An invalid (zero initialized) allocator is an invalid argument.
rcutils_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator();
ret = rmw_get_clients_info_by_service(
node, &invalid_allocator, topic_name, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// A null topic name is an invalid argument.
ret = rmw_get_clients_info_by_service(
node, &allocator, nullptr, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// A null array of topic endpoint info is an invalid argument.
ret = rmw_get_clients_info_by_service(node, &allocator, topic_name, no_mangle, nullptr);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&clients_info));

// A non zero initialized array of topic endpoint info is an invalid argument.
ret = rmw_topic_endpoint_info_array_init_with_size(&clients_info, 1u, &allocator);
ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
ret = rmw_get_clients_info_by_service(
node, &allocator, topic_name, no_mangle, &clients_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
ret = rmw_topic_endpoint_info_array_fini(&clients_info, &allocator);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(TestGraphAPI, get_servers_info_by_service_with_bad_arguments) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
constexpr char topic_name[] = "/test_service";
bool no_mangle = false;
rmw_topic_endpoint_info_array_t servers_info =
rmw_get_zero_initialized_topic_endpoint_info_array();

// A null node is an invalid argument.
rmw_ret_t ret = rmw_get_servers_info_by_service(
nullptr, &allocator, topic_name, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// A node from a different implementation is an invalid argument.
const char * implementation_identifier = node->implementation_identifier;
node->implementation_identifier = "not-an-rmw-implementation-identifier";
ret = rmw_get_servers_info_by_service(
node, &allocator, topic_name, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
node->implementation_identifier = implementation_identifier;
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// A null allocator is an invalid argument.
ret = rmw_get_servers_info_by_service(
node, nullptr, topic_name, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// An invalid (zero initialized) allocator is an invalid argument.
rcutils_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator();
ret = rmw_get_servers_info_by_service(
node, &invalid_allocator, topic_name, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// A null topic name is an invalid argument.
ret = rmw_get_servers_info_by_service(
node, &allocator, nullptr, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// A null array of topic endpoint info is an invalid argument.
ret = rmw_get_servers_info_by_service(node, &allocator, topic_name, no_mangle, nullptr);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
EXPECT_EQ(RMW_RET_OK, rmw_topic_endpoint_info_array_check_zero(&servers_info));

// A non zero initialized array of topic endpoint info is an invalid argument.
ret = rmw_topic_endpoint_info_array_init_with_size(&servers_info, 1u, &allocator);
ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
ret = rmw_get_servers_info_by_service(
node, &allocator, topic_name, no_mangle, &servers_info);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();
ret = rmw_topic_endpoint_info_array_fini(&servers_info, &allocator);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(TestGraphAPI, count_publishers_with_bad_arguments) {
size_t count = 0u;
constexpr char topic_name[] = "/test_topic";
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