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Update for remapping order of __ns and __node to not affect each other #837

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Update for remapping order of __ns and __node to not affect each other #837

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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 @@ -222,8 +222,6 @@ rcl_node_init(
&remapped_node_name);
if (RCL_RET_OK != ret) {
goto fail;
} else if (NULL != remapped_node_name) {
name = remapped_node_name;
}
char * remapped_namespace = NULL;
ret = rcl_remap_node_namespace(
Expand All @@ -238,6 +236,12 @@ rcl_node_init(
should_free_local_namespace_ = true;
local_namespace_ = remapped_namespace;
}
// update name after calling `rcl_remap_node_namespace`,
// otherwise there exist a limitation about remapping two nodes
// that originally have a different name to a same new name but with a different namespace
if (NULL != remapped_node_name) {
name = remapped_node_name;
}

// compute fully qualfied name of the node.
if ('/' == local_namespace_[strlen(local_namespace_) - 1]) {
Expand Down
132 changes: 132 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 @@ -900,3 +900,135 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fai

EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&prev_ini_options.arguments));
}

/* Tests special cast about remapping namespace and node name.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_remap_names) {
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();
const char * argv[] = {
"process_name", "--ros-args", "-r", "node:__ns:=/test_ns", "-r", "node:__name:=test_node"};
int argc = sizeof(argv) / sizeof(const char *);
ret = rcl_init(argc, argv, &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 * actual_node_logger_name;
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, "node", "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
});

actual_node_logger_name = rcl_node_get_logger_name(&node);
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_STREQ("test_ns.test_node", actual_node_logger_name);
EXPECT_STREQ("test_node", actual_node_name);
EXPECT_STREQ("/test_ns", actual_node_namespace);
EXPECT_STREQ("/test_ns/test_node", actual_node_fq_name);
}
}

/* Tests special cast about remapping namespace and node name for two nodes.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_two_nodes_remap_names) {
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();
const char * argv[] = {
"process_name", "--ros-args",
"-r", "publisher_node:__ns:=/publisher", "-r", "publisher_node:__name:=test_node",
"-r", "subscriber_node:__ns:=/subscriber", "-r", "subscriber_node:__name:=test_node"
};
int argc = sizeof(argv) / sizeof(const char *);
ret = rcl_init(argc, argv, &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 * actual_node_logger_name;
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 publisher_node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&publisher_node, "publisher_node", "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_node_fini(&publisher_node);
EXPECT_EQ(RCL_RET_OK, ret);
});

rcl_node_t subscriber_node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&subscriber_node, "subscriber_node", "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_node_fini(&subscriber_node);
EXPECT_EQ(RCL_RET_OK, ret);
});

actual_node_logger_name = rcl_node_get_logger_name(&publisher_node);
actual_node_name = rcl_node_get_name(&publisher_node);
actual_node_namespace = rcl_node_get_namespace(&publisher_node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&publisher_node);

EXPECT_STREQ("publisher.test_node", actual_node_logger_name);
EXPECT_STREQ("test_node", actual_node_name);
EXPECT_STREQ("/publisher", actual_node_namespace);
EXPECT_STREQ("/publisher/test_node", actual_node_fq_name);

actual_node_logger_name = rcl_node_get_logger_name(&subscriber_node);
actual_node_name = rcl_node_get_name(&subscriber_node);
actual_node_namespace = rcl_node_get_namespace(&subscriber_node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&subscriber_node);

EXPECT_STREQ("subscriber.test_node", actual_node_logger_name);
EXPECT_STREQ("test_node", actual_node_name);
EXPECT_STREQ("/subscriber", actual_node_namespace);
EXPECT_STREQ("/subscriber/test_node", actual_node_fq_name);
}
}