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Use common code for rmw_get_node_names and rmw_get_node_names_with_se…
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…curity_contexts

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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@ivanpauno
ivanpauno committed Mar 27, 2020
1 parent f76e4c9 commit 3c2f89c
Showing 1 changed file with 50 additions and 80 deletions.
130 changes: 50 additions & 80 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3037,27 +3037,28 @@ static rmw_ret_t do_for_node_user_data(
return do_for_node(node_impl, f);
}

extern "C" rmw_ret_t rmw_get_node_names(
extern "C" rmw_ret_t rmw_get_node_names_impl(
std::regex re,
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * security_contexts)
{
RET_WRONG_IMPLID(node);
auto node_impl = static_cast<CddsNode *>(node->data);
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK ||
rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK)
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
{
return RMW_RET_ERROR;
}

std::vector<std::pair<std::string, std::string>> ns;
const auto re = std::regex("^name=([^;]*);namespace=([^;]*);", std::regex::extended);
std::vector<std::tuple<std::string, std::string, std::string>> ns;
auto oper =
[&ns, re](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
std::cmatch cm;
static_cast<void>(sample);
if (std::regex_search(ud, cm, re)) {
ns.push_back(std::make_pair(std::string(cm[1]), std::string(cm[2])));
ns.push_back(std::make_tuple(std::string(cm[1]), std::string(cm[2]), std::string(cm[3])));
}
return true;
};
Expand All @@ -3073,90 +3074,28 @@ extern "C" rmw_ret_t rmw_get_node_names(
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
goto fail_alloc;
}
size_t i;
i = 0;
for (auto && n : ns) {
node_names->data[i] = rcutils_strdup(n.first.c_str(), allocator);
node_namespaces->data[i] = rcutils_strdup(n.second.c_str(), allocator);
if (!node_names->data[i] || !node_namespaces->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace");
goto fail_alloc;
}
i++;
}
return RMW_RET_OK;

fail_alloc:
if (node_names) {
if (rcutils_string_array_fini(node_names) != RCUTILS_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"failed to cleanup during error handling: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}
}
if (node_namespaces) {
if (rcutils_string_array_fini(node_namespaces) != RCUTILS_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"failed to cleanup during error handling: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}
}
return RMW_RET_BAD_ALLOC;
}

#if RMW_VERSION_GTE(0, 8, 2)
extern "C" rmw_ret_t rmw_get_node_names_with_security_contexts(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * security_contexts)
{
RET_WRONG_IMPLID(node);
auto node_impl = static_cast<CddsNode *>(node->data);
if (rmw_check_zero_rmw_string_array(node_names) != RMW_RET_OK ||
rmw_check_zero_rmw_string_array(node_namespaces) != RMW_RET_OK ||
rmw_check_zero_rmw_string_array(security_contexts) != RMW_RET_OK)
{
return RMW_RET_ERROR;
}

std::vector<std::tuple<std::string, std::string, std::string>> ns;
const auto re = std::regex(
"^name=([^;]*);namespace=([^;]*);securitycontext=([^;]*);", std::regex::extended);
auto oper =
[&ns, re](const dds_builtintopic_participant_t & sample, const char * ud) -> bool {
std::cmatch cm;
static_cast<void>(sample);
if (std::regex_search(ud, cm, re)) {
ns.push_back(std::make_tuple(std::string(cm[1]), std::string(cm[2]), std::string(cm[3])));
}
return true;
};
rmw_ret_t ret;
if ((ret = do_for_node_user_data(node_impl, oper)) != RMW_RET_OK) {
return ret;
}

rcutils_allocator_t allocator = rcutils_get_default_allocator();
if (rcutils_string_array_init(node_names, ns.size(), &allocator) != RCUTILS_RET_OK ||
rcutils_string_array_init(node_namespaces, ns.size(), &allocator) != RCUTILS_RET_OK ||
if (security_contexts &&
rcutils_string_array_init(security_contexts, ns.size(), &allocator) != RCUTILS_RET_OK)
{
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
goto fail_alloc;
}
size_t i;
i = 0;
for (auto && n : ns) {
for (auto & n : ns) {
node_names->data[i] = rcutils_strdup(std::get<0>(n).c_str(), allocator);
node_namespaces->data[i] = rcutils_strdup(std::get<1>(n).c_str(), allocator);
security_contexts->data[i] = rcutils_strdup(std::get<2>(n).c_str(), allocator);
if (!node_names->data[i] || !node_namespaces->data[i] || !security_contexts->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace/security_context");
if (!node_names->data[i] || !node_namespaces->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for name/namespace");
goto fail_alloc;
}
if (security_contexts) {
security_contexts->data[i] = rcutils_strdup(std::get<2>(n).c_str(), allocator);
if (!security_contexts->data[i]) {
RMW_SET_ERROR_MSG("rmw_get_node_names for security_context");
goto fail_alloc;
}
}
i++;
}
return RMW_RET_OK;
Expand Down Expand Up @@ -3188,6 +3127,37 @@ extern "C" rmw_ret_t rmw_get_node_names_with_security_contexts(
}
return RMW_RET_BAD_ALLOC;
}

extern "C" rmw_ret_t rmw_get_node_names(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces)
{
return rmw_get_node_names_impl(
std::regex("^name=([^;]*);namespace=([^;]*);securitycontext=([^;]*);", std::regex::extended),
node,
node_names,
node_namespaces,
nullptr);
}

#if RMW_VERSION_GTE(0, 8, 2)
extern "C" rmw_ret_t rmw_get_node_names_with_security_contexts(
const rmw_node_t * node,
rcutils_string_array_t * node_names,
rcutils_string_array_t * node_namespaces,
rcutils_string_array_t * security_contexts)
{
if (RMW_RET_OK != rmw_check_zero_rmw_string_array(security_contexts)) {
return RMW_RET_ERROR;
}
return rmw_get_node_names_impl(
std::regex("^name=([^;]*);namespace=([^;]*);securitycontext=([^;]*);", std::regex::extended),
node,
node_names,
node_namespaces,
security_contexts);
}
#endif

static rmw_ret_t rmw_collect_data_for_endpoint(
Expand Down

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