Added tests for action name remapping.

Signed-off-by: Justus Braun <[email protected]>

rcl_action/CMakeLists.txt

@@ -219,6 +219,20 @@ if(BUILD_TESTING)
       src
     )
   endif()
+  ament_add_gtest(test_action_name_remapping
+    test/rcl_action/test_action_name_remapping.cpp
+  )
+  if(TARGET test_action_name_remapping)
+    target_link_libraries(test_action_name_remapping
+      ${PROJECT_NAME}
+      osrf_testing_tools_cpp::memory_tools
+      rcl::rcl
+      ${test_msgs_TARGETS}
+    )
+    target_include_directories(test_action_name_remapping PRIVATE
+      src
+    )
+  endif()
 endif()
 
 # Export old-style CMake variables

rcl_action/test/rcl_action/arg_macros.hpp

@@ -0,0 +1,81 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL_ACTION__ARG_MACROS_HPP_
+#define RCL_ACTION__ARG_MACROS_HPP_
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
+#include "rcutils/strdup.h"
+
+/// Helper to get around non-const args passed to rcl_init().
+char **
+copy_args(int argc, const char ** args)
+{
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  char ** copy = static_cast<char **>(allocator.allocate(sizeof(char *) * argc, allocator.state));
+  for (int i = 0; i < argc; ++i) {
+    copy[i] = rcutils_strdup(args[i], allocator);
+  }
+  return copy;
+}
+
+/// Destroy args allocated by copy_args.
+void
+destroy_args(int argc, char ** args)
+{
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  for (int i = 0; i < argc; ++i) {
+    allocator.deallocate(args[i], allocator.state);
+  }
+  allocator.deallocate(args, allocator.state);
+}
+
+#define SCOPE_GLOBAL_ARGS(argc, argv, ...) \
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); \
+  ASSERT_EQ(RCL_RET_OK, rcl_init_options_init(&init_options, rcl_get_default_allocator())) \
+    << rcl_get_error_string().str; \
+  rcl_context_t context = rcl_get_zero_initialized_context(); \
+  { \
+    const char * const_argv[] = {__VA_ARGS__}; \
+    argc = (sizeof(const_argv) / sizeof(const char *)); \
+    argv = copy_args(argc, const_argv); \
+    rcl_ret_t ret = rcl_init(argc, argv, &init_options, &context); \
+    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; \
+    destroy_args(argc, argv); \
+    ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; \
+    ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str; \
+  })
+
+#define SCOPE_ARGS(local_arguments, ...) \
+  { \
+    local_arguments = rcl_get_zero_initialized_arguments(); \
+    const char * local_argv[] = {__VA_ARGS__}; \
+    unsigned int local_argc = (sizeof(local_argv) / sizeof(const char *)); \
+    rcl_ret_t ret = rcl_parse_arguments( \
+      local_argc, local_argv, rcl_get_default_allocator(), &local_arguments); \
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
+  } \
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( \
+  { \
+    ASSERT_EQ(RCL_RET_OK, rcl_arguments_fini(&local_arguments)); \
+  })
+
+#endif  // RCL_ACTION__ARG_MACROS_HPP_

rcl_action/test/rcl_action/test_action_name_remapping.cpp

@@ -0,0 +1,175 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <rcl/error_handling.h>
+#include <rcl_action/rcl_action.h>
+#include "test_msgs/action/fibonacci.h"
+#include "arg_macros.hpp"
+
+class TestActionNameRemappingFixture : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+  }
+
+  void TearDown() override
+  {
+  }
+};
+
+TEST_F(TestActionNameRemappingFixture, test_action_client_name_remapping) {
+  // Check that remapping works with global args passed to rcl_init
+  int argc;
+  char ** argv;
+
+  SCOPE_GLOBAL_ARGS(
+    argc, argv,
+    "process_name",
+    "--ros-args",
+    "-r", "__node:=new_name",
+    "-r", "__ns:=/new_ns",
+    "-r", "/foo/bar:=/bar/foo");
+
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rcl_node_options_t default_options = rcl_node_get_default_options();
+  ASSERT_EQ(
+    RCL_RET_OK,
+    rcl_node_init(&node, "original_name", "/original_ns", &context, &default_options));
+
+  // Absolute names should be unchanged
+  {
+    const rcl_action_client_options_t action_client_options =
+      rcl_action_client_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_client_t client = rcl_action_get_zero_initialized_client();
+    rcl_ret_t ret = rcl_action_client_init(
+      &client, &node, action_typesupport, "/absolute_name", &action_client_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ("/absolute_name",
+      rcl_action_client_get_action_name(&client)) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&client, &node)) << rcl_get_error_string().str;
+  }
+
+  // Namespace relative names should work
+  {
+    const rcl_action_client_options_t action_client_options =
+      rcl_action_client_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_client_t client = rcl_action_get_zero_initialized_client();
+    rcl_ret_t ret = rcl_action_client_init(
+      &client, &node, action_typesupport, "ns_relative_name", &action_client_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ("/new_ns/ns_relative_name",
+      rcl_action_client_get_action_name(&client)) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&client, &node)) << rcl_get_error_string().str;
+  }
+
+  // Node relative names should work
+  {
+    const rcl_action_client_options_t action_client_options =
+      rcl_action_client_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_client_t client = rcl_action_get_zero_initialized_client();
+    rcl_ret_t ret = rcl_action_client_init(
+      &client, &node, action_typesupport, "~/node_relative_name", &action_client_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ("/new_ns/new_name/node_relative_name",
+      rcl_action_client_get_action_name(&client)) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&client, &node)) << rcl_get_error_string().str;
+  }
+
+  EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
+}
+
+TEST_F(TestActionNameRemappingFixture, test_action_server_name_remapping) {
+  // Check that remapping works with global args passed to rcl_init
+  int argc;
+  char ** argv;
+
+  SCOPE_GLOBAL_ARGS(
+    argc, argv,
+    "process_name",
+    "--ros-args",
+    "-r", "__node:=new_name",
+    "-r", "__ns:=/new_ns",
+    "-r", "/foo/bar:=/bar/foo");
+
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rcl_node_options_t default_options = rcl_node_get_default_options();
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_clock_t clock;
+  rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(
+    RCL_RET_OK,
+    rcl_node_init(&node, "original_name", "/original_ns", &context, &default_options)
+  );
+
+  // Absolute names should be unchanged
+  {
+    const rcl_action_server_options_t action_server_options =
+      rcl_action_server_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_server_t server = rcl_action_get_zero_initialized_server();
+    ret = rcl_action_server_init(
+      &server, &node, &clock, action_typesupport, "/absolute_name", &action_server_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ(
+      "/absolute_name",
+      rcl_action_server_get_action_name(&server)
+    ) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&server, &node)) << rcl_get_error_string().str;
+  }
+
+  // Namespace relative names should work
+  {
+    const rcl_action_server_options_t action_server_options =
+      rcl_action_server_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_server_t server = rcl_action_get_zero_initialized_server();
+    ret = rcl_action_server_init(
+      &server, &node, &clock, action_typesupport, "ns_relative_name", &action_server_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ(
+      "/new_ns/ns_relative_name",
+      rcl_action_server_get_action_name(&server)
+    ) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&server, &node)) << rcl_get_error_string().str;
+  }
+
+  // Node relative names should work
+  {
+    const rcl_action_server_options_t action_server_options =
+      rcl_action_server_get_default_options();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    rcl_action_server_t server = rcl_action_get_zero_initialized_server();
+    ret = rcl_action_server_init(
+      &server, &node, &clock, action_typesupport, "~/node_relative_name", &action_server_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    EXPECT_STREQ(
+      "/new_ns/new_name/node_relative_name",
+      rcl_action_server_get_action_name(&server)
+    ) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&server, &node)) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
+  }
+}