Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add : get clients servers info #238

Open
wants to merge 2 commits into
base: rolling
Choose a base branch
from
Open

add : get clients servers info #238

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8a08a5c
add : get clients servers info
leeminju531 Jun 25, 2024
5581709
Fixes comments
leeminju531 Sep 27, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 24 additions & 0 deletions rmw_implementation/src/functions.cpp
View file
Open in desktop
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;
Expand Down
126 changes: 126 additions & 0 deletions test_rmw_implementation/test/test_graph_api.cpp
View file
Open in desktop
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 service 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 service 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";
Expand Down