Add Action graph API (#411)

* Add action graph API

Builds on top of the rcl graph API.
A list of action names associated with action clients can be constructed by
looking for subscriber topic names that have the suffix "/_action/feedback".
Likewise, action servers are associated with publisher topic names with the same suffix.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Enable multiple rmw action graph API tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use ament_target_dependencies for osrf_testing_tools_cpp

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix lint errors

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Refactor

* Move graph API common implementation to local function
* Refactor tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Disable graph tests with OpenSplice

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Include graph.h in rcl_action.h

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Remove duplicate test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Prefix increment operators

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Rename 'suffix' -> 'identifier'

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add missing finalize calls and remove redundant branch

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Finalize names and types struct on error

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix bugs in tests

Pass valid names and types struct and update expected error code.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add zero allocator tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix indentation

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Check if action identifiers are the suffix

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rcl_action/CMakeLists.txt

@@ -36,6 +36,7 @@ set(rcl_action_sources
  src/${PROJECT_NAME}/action_server.c
  src/${PROJECT_NAME}/goal_handle.c
  src/${PROJECT_NAME}/goal_state_machine.c
+ src/${PROJECT_NAME}/graph.c
  src/${PROJECT_NAME}/names.c
  src/${PROJECT_NAME}/types.c
 )
@@ -91,7 +92,11 @@ if(BUILD_TESTING)
  target_link_libraries(test_action_client
  ${PROJECT_NAME}
  )
- ament_target_dependencies(test_action_client "osrf_testing_tools_cpp" "rcl" "test_msgs")
+ ament_target_dependencies(test_action_client
+ "osrf_testing_tools_cpp"
+ "rcl"
+ "test_msgs"
+ )
  endif()
 
  # get the rmw implementations ahead of time
@@ -122,6 +127,7 @@ if(BUILD_TESTING)
  ${PROJECT_NAME}
  )
  ament_target_dependencies(${target}${target_suffix}
+ "osrf_testing_tools_cpp"
  "rcl"
  "test_msgs"
  )
@@ -146,6 +152,13 @@ if(BUILD_TESTING)
  "test/rcl_action/test_action_communication.cpp")
  custom_test_c(test_action_interaction
  "test/rcl_action/test_action_interaction.cpp")
+
+ # TODO(jacobperron): Graph tests fail with opensplice. Re-enable after resolving
+ # https://github.com/ros2/ros2/issues/677
+ if(NOT rmw_implementation STREQUAL "rmw_opensplice_cpp")
+ custom_test_c(test_graph
+ "test/rcl_action/test_graph.cpp")
+ endif()
  endmacro()
 
  call_for_each_rmw_implementation(targets)

rcl_action/include/rcl_action/graph.h

@@ -0,0 +1,162 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL_ACTION__GRAPH_H_
+#define RCL_ACTION__GRAPH_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/graph.h"
+#include "rcl/node.h"
+
+#include "rcl_action/visibility_control.h"
+
+/// Get a list of action names and types for action clients associated with a node.
+/**
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[in] node_name the node name of the actions to return
+ * \param[in] node_namespace the node namespace of the actions to return
+ * \param[out] action_names_and_types list of action names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_client_names_and_types_by_node(
+ const rcl_node_t * node,
+ rcl_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rcl_names_and_types_t * action_names_and_types);
+
+/// Get a list of action names and types for action servers associated with a node.
+/**
+ * This function returns a list of action names and types for action servers associated with
+ * the provided node name.
+ *
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[in] node_name the node name of the actions to return
+ * \param[in] node_namespace the node namespace of the actions to return
+ * \param[out] action_names_and_types list of action names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_server_names_and_types_by_node(
+ const rcl_node_t * node,
+ rcl_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rcl_names_and_types_t * action_names_and_types);
+
+/// Return a list of action names and their types.
+/**
+ * This function returns a list of action names and types in the ROS graph.
+ *
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Yes
+ * Thread-Safe | No
+ * Uses Atomics | No
+ * Lock-Free | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[out] action_names_and_types list of action names and types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_names_and_types(
+ const rcl_node_t * node,
+ rcl_allocator_t * allocator,
+ rcl_names_and_types_t * action_names_and_types);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // RCL_ACTION__GRAPH_H_

rcl_action/include/rcl_action/rcl_action.h

@@ -52,6 +52,7 @@ extern "C"
 #include "rcl_action/default_qos.h"
 #include "rcl_action/goal_handle.h"
 #include "rcl_action/goal_state_machine.h"
+#include "rcl_action/graph.h"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"