Feature/graph manager (#38)

* Initial changes * Working state * Working state * Working state * Working state * Working state * Working state * Added graph listener * Updates * Testing name demangling * Graph manager: reworked * Remove debug trace * Treat errors when freeing rcutils resources * Improve logics for discovering entities * Working state: Micro-ROS graph manager * Fix micro_ros_graph_info typesupport type name * Remove double CMakeLists comment * Remove package.xml commented block * Add missing include * Added CI * Remove GUID_t param from callbacks signature * Add services names and types to micro-ROS graph topic * Differenciate between service server and clients * remove debug traces Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
2026-09-06 18:05:17 +02:00 · 2020-11-26 07:44:52 +01:00
parent dce3c25a33
commit 23bcea8efb
18 changed files with 2090 additions and 15 deletions
@@ -0,0 +1,125 @@
+// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 UROS_AGENT_UTILS_DEMANGLE_HPP_
+#define UROS_AGENT_UTILS_DEMANGLE_HPP_
+
+#include <string>
+
+namespace uros {
+namespace agent {
+namespace utils {
+
+class Demangle
+{
+private:
+    /**
+     * @brief   Default constructor. Creating instances of this class is not allowed.
+     */
+    Demangle() = default;
+
+    /**
+     * @brief   Default destructor.
+     */
+    ~Demangle() = default;
+
+    /**
+     * @brief   Demangle service name for a given topic, prefix and service suffix,
+     *          if the topic is part of a service; otherwise, return blank.
+     * @param   prefix The ROS service prefix.
+     * @param   topic_name Topic to be demangled.
+     * @param   suffix The ROS service suffix.
+     * @returns The demangled service name.
+     */
+    static std::string _demangle_service_from_topic(
+            const std::string& prefix,
+            const std::string& topic_name,
+            const std::string& suffix);
+
+public:
+    /**
+     * @brief   Demangle if passed topic is a ROS topic; otherwise, keep it intact.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled topic.
+     */
+    static std::string demangle_if_ros_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle if passed type is a ROS type; otherwise, keep it intact.
+     * @param   dds_type_string Type to be demangled.
+     * @returns The demangled type.
+     */
+    static std::string demangle_if_ros_type(
+            const std::string& dds_type_string);
+
+    /**
+     * @brief   Demangle topic name for a given topic if it is part of one;
+     *          otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled topic name.
+     */
+    static std::string demangle_ros_topic_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part of a service;
+     *          otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service name.
+     */
+
+    static std::string demangle_service_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part
+     *          of a service request; otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service request name.
+     */
+    static std::string demangle_service_request_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part
+     *          of a service reply; otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service reply name.
+     */
+    static std::string demangle_service_reply_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service type name if it is a ROS srv type; otherwise, return empty.
+     * @param   dds_type_name Type to be demangled.
+     * @returns The demangled service type.
+     */
+    static std::string demangle_service_type_only(
+            const std::string& dds_type_name);
+
+    /**
+     * @brief   Generic demangle function, used when ROS names are not mangled.
+     * @param   name Generic name to be demangled.
+     * @returns The demangled name.
+     */
+    static std::string identity_demangle(
+            const std::string& name);
+};
+
+}  // namespace utils
+}  // namespace agent
+}  // namespace uros
+
+#endif  // UROS_AGENT_UTILS_DEMANGLE_HPP_