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Fix regression around fully qualified node name.
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Regression was introduced in 114bc52 (PR #381).
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@mjcarroll
mjcarroll committed Mar 18, 2019
1 parent 1d8b831 commit 17ca695
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Showing 3 changed files with 174 additions and 10 deletions.
8 changes: 6 additions & 2 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -241,8 +241,12 @@ rcl_node_init(
local_namespace_ = remapped_namespace;
}

// compute fully qualified name of the node
node->impl->fq_name = rcutils_format_string(*allocator, "%s/%s", local_namespace_, name);
// compute fully qualfied name of the node.
if ('/' == local_namespace_[strlen(local_namespace_) - 1]) {
node->impl->fq_name = rcutils_format_string(*allocator, "%s%s", local_namespace_, name);
} else {
node->impl->fq_name = rcutils_format_string(*allocator, "%s/%s", local_namespace_, name);
}

// node logger name
node->impl->logger_name = rcl_create_node_logger_name(name, local_namespace_, allocator);
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16 changes: 8 additions & 8 deletions rcl/test/rcl/test_get_node_names.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,16 +107,16 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
ss << node_names.data[i] << std::endl;
}
EXPECT_EQ(size_t(4), node_names.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
EXPECT_EQ(0, strcmp(node3_name, node_names.data[2]));
EXPECT_EQ(0, strcmp(node4_name, node_names.data[3]));
EXPECT_STREQ(node1_name, node_names.data[0]);
EXPECT_STREQ(node2_name, node_names.data[1]);
EXPECT_STREQ(node3_name, node_names.data[2]);
EXPECT_STREQ(node4_name, node_names.data[3]);

EXPECT_EQ(size_t(4), node_namespaces.size) << ss.str();
EXPECT_EQ(0, strcmp(node1_namespace, node_namespaces.data[0]));
EXPECT_EQ(0, strcmp(node2_namespace, node_namespaces.data[1]));
EXPECT_EQ(0, strcmp(node3_namespace, node_namespaces.data[2]));
EXPECT_EQ(0, strcmp(node4_namespace, node_namespaces.data[3]));
EXPECT_STREQ(node1_namespace, node_namespaces.data[0]);
EXPECT_STREQ(node2_namespace, node_namespaces.data[1]);
EXPECT_STREQ(node3_namespace, node_namespaces.data[2]);
EXPECT_STREQ(node4_namespace, node_namespaces.data[3]);

ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
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160 changes: 160 additions & 0 deletions rcl/test/rcl/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -708,3 +708,163 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_logger_name
EXPECT_EQ(RCL_RET_OK, ret);
}
}

/* Tests the names and namespaces associated with the node.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names_and_namespaces) {
rcl_ret_t ret;

// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
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;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

const char * name = "node";
const char * actual_node_name;
const char * actual_node_namespace;
const char * actual_node_fq_name;
rcl_node_options_t default_options = rcl_node_get_default_options();

// First do a normal node namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is an empty string.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is just a forward slash.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Node namespace that is not absolute.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "ns", &context, &default_options);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}

// Nested namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns/sub_1/sub_2", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);

actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);

EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ("node", std::string(actual_node_name));
}
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_EQ("/ns/sub_1/sub_2", std::string(actual_node_namespace));
}
EXPECT_TRUE(actual_node_fq_name ? true : false);
if (actual_node_fq_name) {
EXPECT_EQ("/ns/sub_1/sub_2/node", std::string(actual_node_fq_name));
}

rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
}

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