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Update __ns and __node to support remapping with a fully-qualified no…
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…de's name

Signed-off-by: Chen Lihui <[email protected]>
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Chen Lihui authored and Chen Lihui committed Sep 22, 2020
1 parent db769c9 commit 09491ea
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Showing 4 changed files with 102 additions and 23 deletions.
4 changes: 4 additions & 0 deletions rcl/include/rcl/remap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,7 @@ rcl_remap_service_name(
* \param[in] global_arguments Command line arguments to use if no local rules matched, or
* `NULL` or zero-initialized to ignore global arguments.
* \param[in] node_name The current name of the node.
* \param[in] node_namespace The namespace of a node to which name belongs.
* \param[in] allocator A valid allocator to use.
* \param[out] output_name Either an allocated string with the remapped name, or
* `NULL` if no remap rules matched the name.
Expand All @@ -203,6 +204,7 @@ rcl_remap_node_name(
const rcl_arguments_t * local_arguments,
const rcl_arguments_t * global_arguments,
const char * node_name,
const char * node_namespace,
rcl_allocator_t allocator,
char ** output_name);

Expand All @@ -228,6 +230,7 @@ rcl_remap_node_name(
* \param[in] global_arguments Command line arguments to use if no local rules matched, or
* `NULL` or zero-initialized to ignore global arguments.
* \param[in] node_name The name of the node whose namespace is being remapped.
* \param[in] node_namespace The namespace of a node to which name belongs.
* \param[in] allocator A valid allocator to be used.
* \param[out] output_namespace Either an allocated string with the remapped namespace, or
* `NULL` if no remap rules matched the name.
Expand All @@ -244,6 +247,7 @@ rcl_remap_node_namespace(
const rcl_arguments_t * local_arguments,
const rcl_arguments_t * global_arguments,
const char * node_name,
const char * node_namespace,
rcl_allocator_t allocator,
char ** output_namespace);

Expand Down
4 changes: 2 additions & 2 deletions rcl/src/rcl/node.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ rcl_node_init(
global_args = &(node->context->global_arguments);
}
ret = rcl_remap_node_name(
&(node->impl->options.arguments), global_args, name, *allocator,
&(node->impl->options.arguments), global_args, name, local_namespace_, *allocator,
&remapped_node_name);
if (RCL_RET_OK != ret) {
goto fail;
Expand All @@ -227,7 +227,7 @@ rcl_node_init(
}
char * remapped_namespace = NULL;
ret = rcl_remap_node_namespace(
&(node->impl->options.arguments), global_args, name,
&(node->impl->options.arguments), global_args, name, local_namespace_,
*allocator, &remapped_namespace);
if (RCL_RET_OK != ret) {
goto fail;
Expand Down
6 changes: 4 additions & 2 deletions rcl/src/rcl/remap.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -312,6 +312,7 @@ rcl_remap_node_name(
const rcl_arguments_t * local_arguments,
const rcl_arguments_t * global_arguments,
const char * node_name,
const char * node_namespace,
rcl_allocator_t allocator,
char ** output_name)
{
Expand All @@ -322,7 +323,7 @@ rcl_remap_node_name(

RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
return _rcl_remap_name(
local_arguments, global_arguments, RCL_NODENAME_REMAP, NULL, node_name, NULL, NULL,
local_arguments, global_arguments, RCL_NODENAME_REMAP, NULL, node_name, node_namespace, NULL,
allocator, output_name);
}

Expand All @@ -331,6 +332,7 @@ rcl_remap_node_namespace(
const rcl_arguments_t * local_arguments,
const rcl_arguments_t * global_arguments,
const char * node_name,
const char * node_namespace,
rcl_allocator_t allocator,
char ** output_namespace)
{
Expand All @@ -341,7 +343,7 @@ rcl_remap_node_namespace(

RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
return _rcl_remap_name(
local_arguments, global_arguments, RCL_NAMESPACE_REMAP, NULL, node_name, NULL, NULL,
local_arguments, global_arguments, RCL_NAMESPACE_REMAP, NULL, node_name, node_namespace, NULL,
allocator, output_namespace);
}

Expand Down
111 changes: 92 additions & 19 deletions rcl/test/rcl/test_remap.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replace

char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/foo/bar", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
Expand All @@ -64,28 +64,46 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
"--ros-args",
"-r", "Node1:__ns:=/foo/bar",
"-r", "Node2:__ns:=/this_one",
"-r", "Node3:__ns:=/bar/foo");
"-r", "Node3:__ns:=/bar/foo",
"-r", "/Node4:__ns:=/bar/foo",
"-r", "/ns1/Node5:__ns:=/bar/foo");

{
char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "Node1", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "Node1", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/foo/bar", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "Node2", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "Node2", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/this_one", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "Node3", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "Node3", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/bar/foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "Node4", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/bar/foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "Node5", "/ns1", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/bar/foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
Expand All @@ -99,7 +117,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_namespace_replacement

char * output = NULL;
ret = rcl_remap_node_namespace(
NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(NULL, output);
}
Expand All @@ -113,7 +131,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacem

char * output = NULL;
ret = rcl_remap_node_namespace(
&local_arguments, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
&local_arguments, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/local_args", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
Expand All @@ -126,7 +144,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_namespace_

char * output = NULL;
ret = rcl_remap_node_namespace(
&local_arguments, NULL, "NodeName", rcl_get_default_allocator(), &output);
&local_arguments, NULL, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(NULL, output);
}
Expand All @@ -144,12 +162,67 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_names

rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL;
ret = rcl_remap_node_namespace(NULL, &global_arguments, "NodeName", allocator, &output);
ret = rcl_remap_node_namespace(NULL, &global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("/namespace", output);
allocator.deallocate(output, allocator.state);
}

TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_nodename_remap) {
rcl_ret_t ret;
rcl_arguments_t global_arguments;
SCOPE_ARGS(
global_arguments,
"process_name",
"--ros-args",
"-r", "Node1:__node:=foo_bar",
"-r", "Node2:__node:=this_one",
"-r", "Node3:__node:=bar_foo",
"-r", "/Node4:__node:=bar_foo",
"-r", "/ns1/Node5:__node:=bar_foo");

{
char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "Node1", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("foo_bar", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "Node2", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("this_one", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "Node3", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("bar_foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "Node4", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("bar_foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
{
char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "Node5", "/ns1", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("bar_foo", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
}
}

TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replacement) {
rcl_ret_t ret;
rcl_arguments_t global_arguments;
Expand Down Expand Up @@ -458,7 +531,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacem

rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL;
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("globalname", output);
allocator.deallocate(output, allocator.state);
Expand All @@ -471,7 +544,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement)

char * output = NULL;
ret = rcl_remap_node_name(
NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
NULL, &global_arguments, "NodeName", NULL, rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(NULL, output);
}
Expand All @@ -485,7 +558,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replaceme

char * output = NULL;
ret = rcl_remap_node_name(
&local_arguments, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
&local_arguments, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("local_name", output);
rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
Expand All @@ -498,7 +571,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_nodename_r

char * output = NULL;
ret = rcl_remap_node_name(
&local_arguments, NULL, "NodeName", rcl_get_default_allocator(), &output);
&local_arguments, NULL, "NodeName", "/", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(NULL, output);
}
Expand All @@ -515,7 +588,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), use_first_nodename_rule)

rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL;
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("firstname", output);
allocator.deallocate(output, allocator.state);
Expand All @@ -534,7 +607,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_noden

rcl_allocator_t allocator = rcl_get_default_allocator();
char * output = NULL;
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("remap_name", output);
allocator.deallocate(output, allocator.state);
Expand Down Expand Up @@ -588,24 +661,24 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), _rcl_remap_name_bad_arg)

// Expected usage local_args, global not init is OK
rcl_ret_t ret = rcl_remap_node_name(
&local_arguments, &zero_init_global_arguments, "NodeName", allocator, &output);
&local_arguments, &zero_init_global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("local_name", output);
allocator.deallocate(output, allocator.state);

// Expected usage global_args, local not null is OK
ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", allocator, &output);
ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("global_name", output);
allocator.deallocate(output, allocator.state);

// Both local and global arguments, not valid
ret = rcl_remap_node_name(nullptr, nullptr, "NodeName", allocator, &output);
ret = rcl_remap_node_name(nullptr, nullptr, "NodeName", "/", allocator, &output);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

// Bad allocator
ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", bad_allocator, &output);
ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", NULL, bad_allocator, &output);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
Expand Down

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