Validate and remap the topic name for publishers/subscriptions

Author: minggangw

lib/node.js

@@ -43,6 +43,8 @@ const TypeDescriptionService = require('./type_description_service.js');
 const Entity = require('./entity.js');
 const { SubscriptionEventCallbacks } = require('../lib/event_handler.js');
 const { PublisherEventCallbacks } = require('../lib/event_handler.js');
+const { validateFullTopicName } = require('./validator.js');
+const node = require('debug/src/node.js');
 
 // Parameter event publisher constants
 const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
@@ -1072,27 +1074,55 @@ class Node extends rclnodejs.ShadowNode {
   }
 
   /**
-   * Get a list of publishers on a given topic.
-   * @param {string} topic - the topic name to get the publishers for.
-   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
-   *       otherwise it should be a valid ROS topic name.
+   * Return a list of publishers on a given topic.
+   *
+   * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+   * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+   * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+   * apps).  When the `no_mangle` parameter is `False`, the provided `topic` should
+   * follow ROS topic name conventions.
+   *
+   * `topic` may be a relative, private, or fully qualified topic name.
+   *  A relative or private topic will be expanded using this node's namespace and name.
+   *  The queried `topic` is not remapped.
+   * @param {string} topic - The topic on which to find the publishers.
+   * @param {boolean} noDemangle - If `true`, `topic` needs to be a valid middleware topic
+   *                               name, otherwise it should be a valid ROS topic name. Defaults to `false`.
    * @returns {Array} - list of publishers
    */
   getPublishersInfoByTopic(topic, noDemangle) {
-    return rclnodejs.getPublishersInfoByTopic(this.handle, topic, noDemangle);
+    return rclnodejs.getPublishersInfoByTopic(
+      this.handle,
+      this._getValidatedTopic(topic, noDemangle),
+      noDemangle
+    );
   }
 
   /**
-   * Get a list of subscriptions on a given topic.
-   * @param {string} topic - the topic name to get the subscriptions for.
-   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
-   *       otherwise it should be a valid ROS topic name.
+   * Return a list of subscriptions on a given topic.
+   *
+   * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+   * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+   * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+   * apps).  When the `no_mangle` parameter is `False`, the provided `topic` should
+   * follow ROS topic name conventions.
+   *
+   * `topic` may be a relative, private, or fully qualified topic name.
+   *  A relative or private topic will be expanded using this node's namespace and name.
+   *  The queried `topic` is not remapped.
+   * @param {string} topic - The topic on which to find the subscriptions.
+   * @param {boolean} noDemangle -  If `True`, `topic` needs to be a valid middleware topic
+                                    name, otherwise it should be a valid ROS topic name. Defaults to `False`.
    * @returns {Array} - list of subscriptions
    */
   getSubscriptionsInfoByTopic(topic, noDemangle) {
     return rclnodejs.getSubscriptionsInfoByTopic(
       this.handle,
-      topic,
+      this._getValidatedTopic(topic, noDemangle),
       noDemangle
     );
   }
@@ -1864,6 +1894,19 @@ class Node extends rclnodejs.ShadowNode {
     this._actionServers.push(actionServer);
     this.syncHandles();
   }
+
+  _getValidatedTopic(topicName, noDemangle) {
+    if (noDemangle) {
+      return topicName;
+    }
+    const fqTopicName = rclnodejs.expandTopicName(
+      topicName,
+      this.name(),
+      this.namespace()
+    );
+    validateFullTopicName(fqTopicName);
+    return rclnodejs.remapTopicName(this.handle, fqTopicName);
+  }
 }
 
 /**

src/rcl_node_bindings.cpp

@@ -20,6 +20,7 @@
 #include <rcl/arguments.h>
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
+#include <rcl/remap.h>
 #include <rcl_action/rcl_action.h>
 #include <rcl_yaml_param_parser/parser.h>
 #include <rcl_yaml_param_parser/types.h>
@@ -507,6 +508,47 @@ Napi::Value ResolveName(const Napi::CallbackInfo& info) {
   return Napi::String::New(env, output_cstr);
 }
 
+Napi::Value RemapTopicName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string topic_name = info[1].As<Napi::String>().Utf8Value();
+
+  const rcl_node_options_t* node_options = rcl_node_get_options(node);
+  if (nullptr == node_options) {
+    Napi::Error::New(env, "failed to get node options")
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  const rcl_arguments_t* global_args = nullptr;
+  if (node_options->use_global_arguments) {
+    global_args = &(node->context->global_arguments);
+  }
+
+  char* output_cstr = nullptr;
+  rcl_ret_t ret = rcl_remap_topic_name(
+      &(node_options->arguments), global_args, topic_name.c_str(),
+      rcl_node_get_name(node), rcl_node_get_namespace(node),
+      node_options->allocator, &output_cstr);
+  if (RCL_RET_OK != ret) {
+    Napi::Error::New(env, "failed to remap topic name")
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+  if (nullptr == output_cstr) {
+    return Napi::String::New(env, topic_name);
+  }
+
+  auto name_deleter = [&]() {
+    node_options->allocator.deallocate(output_cstr,
+                                       node_options->allocator.state);
+  };
+  RCPPUTILS_SCOPE_EXIT({ name_deleter(); });
+
+  return Napi::String::New(env, output_cstr);
+}
+
 Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getParameterOverrides",
               Napi::Function::New(env, GetParameterOverrides));
@@ -532,6 +574,7 @@ Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getRMWImplementationIdentifier",
               Napi::Function::New(env, GetRMWImplementationIdentifier));
   exports.Set("resolveName", Napi::Function::New(env, ResolveName));
+  exports.Set("remapTopicName", Napi::Function::New(env, RemapTopicName));
   return exports;
 }
 

test/test-graph.js

@@ -29,21 +29,34 @@ describe('rclnodejs graph test suite', function () {
   });
 
   it('Get publishers info by topic', function () {
-    const node = rclnodejs.createNode('publisher_node');
+    const node = rclnodejs.createNode('publisher_node', '/my_ns');
+    assert.deepStrictEqual(
+      0,
+      node.getPublishersInfoByTopic('/my_ns/topic', false).length
+    );
     const String = 'std_msgs/msg/String';
     node.createPublisher(String, 'topic');
-    const publishers = node.getPublishersInfoByTopic('/topic', false);
+    const publishers = node.getPublishersInfoByTopic('/my_ns/topic', false);
     assert.strictEqual(publishers.length, 1);
+    assert.strictEqual(publishers[0].node_namespace, '/my_ns');
     assert.strictEqual(publishers[0].node_name, 'publisher_node');
     assert.strictEqual(publishers[0].topic_type, String);
   });
 
   it('Get subscriptions info by topic', function () {
-    const node = rclnodejs.createNode('subscription_node');
+    const node = rclnodejs.createNode('subscription_node', '/my_ns');
+    assert.deepStrictEqual(
+      0,
+      node.getSubscriptionsInfoByTopic('/my_ns/topic', false).length
+    );
     const String = 'std_msgs/msg/String';
     node.createSubscription(String, 'topic', (msg) => {});
-    const subscriptions = node.getSubscriptionsInfoByTopic('/topic', false);
+    const subscriptions = node.getSubscriptionsInfoByTopic(
+      '/my_ns/topic',
+      false
+    );
     assert.strictEqual(subscriptions.length, 1);
+    assert.strictEqual(subscriptions[0].node_namespace, '/my_ns');
     assert.strictEqual(subscriptions[0].node_name, 'subscription_node');
     assert.strictEqual(subscriptions[0].topic_type, String);
   });