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Update graph API return codes. (#436)
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This patch affects:
- rmw_get_node_names()
- rmw_get_node_names_with_enclaves()
- rmw_get_topic_names_and_types()
- rmw_get_service_names_and_types()
- rmw_get_publishers_info_by_topic()
- rmw_get_subscriptions_info_by_topic()
- rmw_get_subscriber_names_and_types_by_node()
- rmw_get_publisher_names_and_types_by_node()
- rmw_get_service_names_and_types_by_node()
- rmw_get_client_names_and_types_by_node()
- rmw_count_publishers()
- rmw_count_subscribers()

Signed-off-by: Michel Hidalgo <[email protected]>
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@hidmic
hidmic authored Sep 22, 2020
1 parent 9318b19 commit e4b02b0
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Showing 6 changed files with 122 additions and 150 deletions.
42 changes: 32 additions & 10 deletions rmw_fastrtps_shared_cpp/src/rmw_count.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,10 @@
#include "rcutils/logging_macros.h"

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/types.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/context.hpp"

Expand All @@ -41,14 +43,24 @@ __rmw_count_publishers(
const char * topic_name,
size_t * count)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
const std::string mangled_topic_name =
_mangle_topic_name(ros_topic_prefix, topic_name).to_string();
Expand All @@ -62,14 +74,24 @@ __rmw_count_subscribers(
const char * topic_name,
size_t * count)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
const std::string mangled_topic_name =
_mangle_topic_name(ros_topic_prefix, topic_name).to_string();
Expand Down
50 changes: 15 additions & 35 deletions rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <tuple>
#include <vector>

#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/types.h"
#include "rmw/topic_endpoint_info_array.h"
Expand All @@ -35,49 +36,28 @@
namespace rmw_fastrtps_shared_cpp
{

rmw_ret_t
_validate_params(
static rmw_ret_t __validate_arguments(
const char * identifier,
const rmw_node_t * node,
rcutils_allocator_t * allocator,
const char * topic_name,
rmw_topic_endpoint_info_array_t * participants_info)
{
if (!identifier) {
RMW_SET_ERROR_MSG("null implementation identifier provided");
return RMW_RET_ERROR;
}

if (!topic_name) {
RMW_SET_ERROR_MSG("null topic_name provided");
return RMW_RET_ERROR;
}

if (!allocator) {
RMW_SET_ERROR_MSG("null allocator provided");
return RMW_RET_ERROR;
}

if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_ERROR;
}

// Get participant pointer from node
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return RMW_RET_ERROR;
}

if (!participants_info) {
RMW_SET_ERROR_MSG("null participants_info provided");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(participants_info)) {
return RMW_RET_INVALID_ARGUMENT;
}

return RMW_RET_OK;
}


rmw_ret_t
__rmw_get_publishers_info_by_topic(
const char * identifier,
Expand All @@ -87,7 +67,7 @@ __rmw_get_publishers_info_by_topic(
bool no_mangle,
rmw_topic_endpoint_info_array_t * publishers_info)
{
rmw_ret_t ret = _validate_params(
rmw_ret_t ret = __validate_arguments(
identifier,
node,
allocator,
Expand Down Expand Up @@ -120,7 +100,7 @@ __rmw_get_subscriptions_info_by_topic(
bool no_mangle,
rmw_topic_endpoint_info_array_t * subscriptions_info)
{
rmw_ret_t ret = _validate_params(
rmw_ret_t ret = __validate_arguments(
identifier,
node,
allocator,
Expand Down
84 changes: 33 additions & 51 deletions rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/names_and_types.h"
#include "rmw/rmw.h"
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"

#include "rmw_dds_common/context.hpp"

Expand All @@ -45,53 +47,6 @@
namespace rmw_fastrtps_shared_cpp
{

/**
* Validate the input data of node_info_and_types functions.
*
* \return RMW_RET_INVALID_ARGUMENT for null input args
* \return RMW_RET_ERROR if identifier is not the same as the input node
* \return RMW_RET_OK if all input is valid
*/
rmw_ret_t __validate_input(
const char * identifier,
const rmw_node_t * node,
rcutils_allocator_t * allocator,
const char * node_name,
const char * node_namespace,
rmw_names_and_types_t * topic_names_and_types)
{
if (!allocator) {
RMW_SET_ERROR_MSG("allocator is null");
return RMW_RET_INVALID_ARGUMENT;
}
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}

if (!node_name) {
RMW_SET_ERROR_MSG("null node name");
return RMW_RET_INVALID_ARGUMENT;
}

if (!node_namespace) {
RMW_SET_ERROR_MSG("null node namespace");
return RMW_RET_INVALID_ARGUMENT;
}

rmw_ret_t ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (ret != RMW_RET_OK) {
return ret;
}

// Get participant pointer from node
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return RMW_RET_ERROR;
}
return RMW_RET_OK;
}

using GetNamesAndTypesByNodeFunction = rmw_ret_t (*)(
rmw_dds_common::Context *,
const std::string &,
Expand All @@ -114,10 +69,37 @@ __rmw_get_topic_names_and_types_by_node(
GetNamesAndTypesByNodeFunction get_names_and_types_by_node,
rmw_names_and_types_t * topic_names_and_types)
{
rmw_ret_t valid_input = __validate_input(
identifier, node, allocator, node_name, node_namespace, topic_names_and_types);
if (valid_input != RMW_RET_OK) {
return valid_input;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_NODE_NAME_VALID;
rmw_ret_t ret = rmw_validate_node_name(node_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_NODE_NAME_VALID != validation_result) {
const char * reason = rmw_node_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
validation_result = RMW_NAMESPACE_VALID;
ret = rmw_validate_namespace(node_namespace, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_NAMESPACE_VALID != validation_result) {
const char * reason = rmw_namespace_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_namespace argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
ret = rmw_names_and_types_check_zero(topic_names_and_types);
if (RMW_RET_OK != ret) {
return ret;
}
auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);

Expand Down
49 changes: 23 additions & 26 deletions rmw_fastrtps_shared_cpp/src/rmw_node_names.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include "rmw/allocators.h"
#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/sanity_checks.h"

Expand All @@ -44,19 +45,17 @@ __rmw_get_node_names(
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
return RMW_RET_INVALID_ARGUMENT;
}
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK) {
return RMW_RET_ERROR;
}
if (rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK) {
return RMW_RET_ERROR;
}
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return RMW_RET_ERROR;
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
return RMW_RET_INVALID_ARGUMENT;
}

auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
Expand All @@ -76,22 +75,20 @@ __rmw_get_node_names_with_enclaves(
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * enclaves)
{
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_ERROR;
}
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK) {
return RMW_RET_ERROR;
}
if (rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK) {
return RMW_RET_ERROR;
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
return RMW_RET_INVALID_ARGUMENT;
}
if (rmw_check_zero_rmw_string_array(enclaves) != RMW_RET_OK) {
return RMW_RET_ERROR;
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
return RMW_RET_INVALID_ARGUMENT;
}
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return RMW_RET_ERROR;
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(enclaves)) {
return RMW_RET_INVALID_ARGUMENT;
}

auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
Expand Down
24 changes: 10 additions & 14 deletions rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/get_service_names_and_types.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/names_and_types.h"
#include "rmw/types.h"

Expand All @@ -40,22 +41,17 @@ __rmw_get_service_names_and_types(
rcutils_allocator_t * allocator,
rmw_names_and_types_t * service_names_and_types)
{
if (!allocator) {
RMW_SET_ERROR_MSG("allocator is null");
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
if (RMW_RET_OK != rmw_names_and_types_check_zero(service_names_and_types)) {
return RMW_RET_INVALID_ARGUMENT;
}
if (!node) {
RMW_SET_ERROR_MSG("null node handle");
return RMW_RET_INVALID_ARGUMENT;
}
rmw_ret_t ret = rmw_names_and_types_check_zero(service_names_and_types);
if (ret != RMW_RET_OK) {
return ret;
}
if (node->implementation_identifier != identifier) {
RMW_SET_ERROR_MSG("node handle not from this implementation");
return RMW_RET_ERROR;
}

auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);

Expand Down
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