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Added remapping resolution for action names #1170

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Added remapping resolution for action names #1170

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44dcad3
Added remapping resolution for action names
JustusBraun Jul 14, 2024
9498aa4
Fix cpplint/uncrustify
JustusBraun Jul 16, 2024
95b0fba
Simplified returned error codes in case name resolution failes.
JustusBraun Jul 17, 2024
e3b6fe4
Renamed action_name field to remapped_action_name.
JustusBraun Jul 18, 2024
3c216d6
Removed unnecessary resolved_action_name stack variable
JustusBraun Jul 23, 2024
bc2fdd5
Added tests for action name remapping.
JustusBraun Jul 27, 2024
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30 changes: 27 additions & 3 deletions rcl_action/src/rcl_action/action_client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,8 @@ _rcl_action_client_fini_impl(
// \internal Initializes an action client specific service client.
#define CLIENT_INIT(Type) \
char * Type ## _service_name = NULL; \
ret = rcl_action_get_ ## Type ## _service_name(action_name, allocator, &Type ## _service_name); \
ret = rcl_action_get_ ## Type ## _service_name( \
resolved_action_name, allocator, &Type ## _service_name); \
if (RCL_RET_OK != ret) { \
rcl_reset_error(); \
RCL_SET_ERROR_MSG("failed to get " #Type " service name"); \
Expand Down Expand Up @@ -145,7 +146,8 @@ _rcl_action_client_fini_impl(
// \internal Initializes an action client specific topic subscription.
#define SUBSCRIPTION_INIT(Type) \
char * Type ## _topic_name = NULL; \
ret = rcl_action_get_ ## Type ## _topic_name(action_name, allocator, &Type ## _topic_name); \
ret = rcl_action_get_ ## Type ## _topic_name( \
resolved_action_name, allocator, &Type ## _topic_name); \
if (RCL_RET_OK != ret) { \
rcl_reset_error(); \
RCL_SET_ERROR_MSG("failed to get " #Type " topic name"); \
Expand Down Expand Up @@ -212,8 +214,21 @@ rcl_action_client_init(

// Avoid uninitialized pointers should initialization fail
*action_client->impl = _rcl_action_get_zero_initialized_client_impl();

// Remap/Expand the action name
char * resolved_action_name = NULL;
ret = rcl_node_resolve_name(node, action_name, allocator, false, false, &resolved_action_name);
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if (RCL_RET_OK != ret) {
if (RCL_RET_TOPIC_NAME_INVALID == ret || RCL_RET_UNKNOWN_SUBSTITUTION == ret) {
ret = RCL_RET_ACTION_NAME_INVALID;
} else if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
}
goto fail;
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}

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// Copy action client name and options.
action_client->impl->action_name = rcutils_strdup(action_name, allocator);
action_client->impl->action_name = rcutils_strdup(resolved_action_name, allocator);
if (NULL == action_client->impl->action_name) {
RCL_SET_ERROR_MSG("failed to duplicate action name");
ret = RCL_RET_BAD_ALLOC;
Expand All @@ -230,6 +245,10 @@ rcl_action_client_init(
SUBSCRIPTION_INIT(feedback);
SUBSCRIPTION_INIT(status);

// The resolved action name is no longer needed
allocator.deallocate(resolved_action_name, allocator.state);
resolved_action_name = NULL;

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if (RCL_RET_OK != rcl_node_type_cache_register_type(
node, type_support->get_type_hash_func(type_support),
type_support->get_type_description_func(type_support),
Expand All @@ -244,6 +263,11 @@ rcl_action_client_init(
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
return ret;
fail:
// Deallocate the resolved action name
if (NULL != resolved_action_name) {
allocator.deallocate(resolved_action_name, allocator.state);
}

fini_ret = _rcl_action_client_fini_impl(action_client, node, allocator);
if (RCL_RET_OK != fini_ret) {
RCL_SET_ERROR_MSG("failed to cleanup action client");
Expand Down
28 changes: 25 additions & 3 deletions rcl_action/src/rcl_action/action_server.c
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,8 @@ rcl_action_get_zero_initialized_server(void)

#define SERVICE_INIT(Type) \
char * Type ## _service_name = NULL; \
ret = rcl_action_get_ ## Type ## _service_name(action_name, allocator, &Type ## _service_name); \
ret = rcl_action_get_ ## Type ## _service_name( \
resolved_action_name, allocator, &Type ## _service_name); \
if (RCL_RET_OK != ret) { \
if (RCL_RET_BAD_ALLOC == ret) { \
ret = RCL_RET_BAD_ALLOC; \
Expand Down Expand Up @@ -80,7 +81,8 @@ rcl_action_get_zero_initialized_server(void)

#define PUBLISHER_INIT(Type) \
char * Type ## _topic_name = NULL; \
ret = rcl_action_get_ ## Type ## _topic_name(action_name, allocator, &Type ## _topic_name); \
ret = rcl_action_get_ ## Type ## _topic_name( \
resolved_action_name, allocator, &Type ## _topic_name); \
if (RCL_RET_OK != ret) { \
if (RCL_RET_BAD_ALLOC == ret) { \
ret = RCL_RET_BAD_ALLOC; \
Expand Down Expand Up @@ -163,6 +165,18 @@ rcl_action_server_init(
action_server->impl->type_hash = rosidl_get_zero_initialized_type_hash();

rcl_ret_t ret = RCL_RET_OK;
// Resolve action name
char * resolved_action_name = NULL;
ret = rcl_node_resolve_name(node, action_name, allocator, false, false, &resolved_action_name);
if (RCL_RET_OK != ret) {
if (RCL_RET_TOPIC_NAME_INVALID == ret || RCL_RET_UNKNOWN_SUBSTITUTION == ret) {
ret = RCL_RET_ACTION_NAME_INVALID;
} else if (RCL_RET_BAD_ALLOC != ret) {
ret = RCL_RET_ERROR;
}
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goto fail;
}

// Initialize services
SERVICE_INIT(goal);
SERVICE_INIT(cancel);
Expand All @@ -189,12 +203,16 @@ rcl_action_server_init(
}

// Copy action name
action_server->impl->action_name = rcutils_strdup(action_name, allocator);
action_server->impl->action_name = rcutils_strdup(resolved_action_name, allocator);
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if (NULL == action_server->impl->action_name) {
ret = RCL_RET_BAD_ALLOC;
goto fail;
}

// The resolved_action_name is no longer needed
allocator.deallocate(resolved_action_name, allocator.state);
resolved_action_name = NULL;

// Store type hash
if (RCL_RET_OK != rcl_node_type_cache_register_type(
node, type_support->get_type_hash_func(type_support),
Expand All @@ -210,6 +228,10 @@ rcl_action_server_init(
return ret;
fail:
{
// Deallocate the resolved action name
if (NULL != resolved_action_name) {
allocator.deallocate(resolved_action_name, allocator.state);
}
// Finalize any services/publishers that were initialized and deallocate action_server->impl
rcl_ret_t ret_throwaway = rcl_action_server_fini(action_server, node);
// Since there is already a failure, it is likely that finalize will error on one or more of
Expand Down
2 changes: 1 addition & 1 deletion rcl_action/test/rcl_action/test_action_client.cpp
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Expand Up @@ -240,7 +240,7 @@ class TestActionClientFixture : public TestActionClientBaseFixture
TestActionClientBaseFixture::TearDown();
}

const char * const action_name = "test_action_client_name";
const char * const action_name = "/test_action_client_name";
rcl_action_client_options_t action_client_options;
rcl_action_client_t invalid_action_client;
rcl_action_client_t action_client;
Expand Down
2 changes: 1 addition & 1 deletion rcl_action/test/rcl_action/test_action_server.cpp
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Expand Up @@ -777,7 +777,7 @@ TEST_F(TestActionServer, test_action_server_get_action_name)
// Get action_name for a valid action server
action_name = rcl_action_server_get_action_name(&this->action_server);
ASSERT_NE(action_name, nullptr) << rcl_get_error_string().str;
EXPECT_STREQ(action_name, "test_action_server_name");
EXPECT_STREQ(action_name, "/test_action_server_name");
}

TEST_F(TestActionServer, test_action_server_get_options)
Expand Down