mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Jose Antonio MoralandPablo Garrido
23bcea8efb
* 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>
125 lines
4.1 KiB
C++
125 lines
4.1 KiB
C++
// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef UROS_AGENT_UTILS_DEMANGLE_HPP_
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#define UROS_AGENT_UTILS_DEMANGLE_HPP_
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#include <string>
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namespace uros {
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namespace agent {
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namespace utils {
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class Demangle
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{
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private:
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/**
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* @brief Default constructor. Creating instances of this class is not allowed.
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*/
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Demangle() = default;
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/**
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* @brief Default destructor.
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*/
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~Demangle() = default;
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/**
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* @brief Demangle service name for a given topic, prefix and service suffix,
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* if the topic is part of a service; otherwise, return blank.
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* @param prefix The ROS service prefix.
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* @param topic_name Topic to be demangled.
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* @param suffix The ROS service suffix.
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* @returns The demangled service name.
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*/
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static std::string _demangle_service_from_topic(
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const std::string& prefix,
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const std::string& topic_name,
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const std::string& suffix);
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public:
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/**
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* @brief Demangle if passed topic is a ROS topic; otherwise, keep it intact.
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* @param topic_name Topic to be demangled.
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* @returns The demangled topic.
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*/
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static std::string demangle_if_ros_topic(
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const std::string& topic_name);
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/**
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* @brief Demangle if passed type is a ROS type; otherwise, keep it intact.
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* @param dds_type_string Type to be demangled.
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* @returns The demangled type.
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*/
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static std::string demangle_if_ros_type(
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const std::string& dds_type_string);
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/**
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* @brief Demangle topic name for a given topic if it is part of one;
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* otherwise, return empty.
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* @param topic_name Topic to be demangled.
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* @returns The demangled topic name.
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*/
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static std::string demangle_ros_topic_from_topic(
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const std::string& topic_name);
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/**
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* @brief Demangle the service name for a given topic if it is part of a service;
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* otherwise, return empty.
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* @param topic_name Topic to be demangled.
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* @returns The demangled service name.
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*/
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static std::string demangle_service_from_topic(
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const std::string& topic_name);
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/**
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* @brief Demangle the service name for a given topic if it is part
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* of a service request; otherwise, return empty.
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* @param topic_name Topic to be demangled.
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* @returns The demangled service request name.
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*/
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static std::string demangle_service_request_from_topic(
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const std::string& topic_name);
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/**
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* @brief Demangle the service name for a given topic if it is part
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* of a service reply; otherwise, return empty.
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* @param topic_name Topic to be demangled.
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* @returns The demangled service reply name.
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*/
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static std::string demangle_service_reply_from_topic(
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const std::string& topic_name);
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/**
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* @brief Demangle the service type name if it is a ROS srv type; otherwise, return empty.
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* @param dds_type_name Type to be demangled.
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* @returns The demangled service type.
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*/
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static std::string demangle_service_type_only(
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const std::string& dds_type_name);
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/**
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* @brief Generic demangle function, used when ROS names are not mangled.
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* @param name Generic name to be demangled.
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* @returns The demangled name.
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*/
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static std::string identity_demangle(
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const std::string& name);
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};
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} // namespace utils
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} // namespace agent
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} // namespace uros
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#endif // UROS_AGENT_UTILS_DEMANGLE_HPP_
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