Commiting old code

Manifest.toml

@@ -1,5 +1,36 @@
+# This file is machine-generated - editing it directly is not advised
+
+[[Base64]]
+uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+
+[[Distributed]]
+deps = ["Random", "Serialization", "Sockets"]
+uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
+
+[[InteractiveUtils]]
+deps = ["Markdown"]
+uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
+
 [[Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
+[[Logging]]
+uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
+
+[[Markdown]]
+deps = ["Base64"]
+uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
+
+[[Random]]
+deps = ["Serialization"]
+uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
+
+[[Serialization]]
+uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
+
+[[Sockets]]
+uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
+
 [[Test]]
+deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

Project.toml

@@ -1,6 +1,6 @@
-authors = ["Nicu Stiurca <[email protected]>"]
 name = "Rcl"
 uuid = "78a8c452-60eb-11e8-3cb2-e7ea7ae9c7f8"
+authors = ["Nicu Stiurca <[email protected]>"]
 version = "0.1.0"
 
 [deps]

gen/wrap_rcl2.jl

@@ -14,7 +14,6 @@ clang_includes=[
     ROS_INCLUDE_PATH,
     "/usr/include",
     "/usr/lib/llvm-6.0/lib/clang/6.0.0/include",    # stdbool.h
-    "/usr/lib/llvm-3.9/lib/clang/3.9.1/include",    # stdbool.h
 ]
 
 function header_wrapped(header_file, cursor_name)

src/Rcl.jl

@@ -13,6 +13,8 @@ include("node_base.jl")
 end
 
 export rcl
+using .rcl: name, namespace
+export name, namespace
 
 # abstract type Node end
 # abstract type Logger end

src/node_base.jl

@@ -1,44 +1,42 @@
 import ..internal
 mutable struct NodeBase
-    rcl_node::internal.rcl_node_t
+    rcl_node::Ref{internal.rcl_node_t}
 
     NodeBase(node_name, namespace) = begin
-        rcl_node = internal.rcl_get_zero_initialized_node()
-
-        default_options = internal.rcl_node_get_default_options()
-        # allocator = internal.rcl_get_default_allocator()
-        # @assert internal.rcutils_allocator_is_valid(pointer_from_objref(allocator))
-        # @async @show allocator
-        # options = internal.rcl_node_options_t(internal.RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, allocator)
-        # @assert internal.rcutils_allocator_is_valid(pointer_from_objref(options.allocator))
-
-        # @show allocator
-        # @show options
-        # @show default_options
-        rcl_node_handle = pointer_from_objref(rcl_node)
-        default_options_handle = pointer_from_objref(default_options)
-        internal.checkcall(internal.rcl_node_init(rcl_node_handle, node_name, namespace, default_options_handle))
+        rcl_node = Ref(internal.rcl_get_zero_initialized_node())
+        default_options = Ref(internal.rcl_node_get_default_options())
+        internal.checkcall(internal.rcl_node_init(rcl_node, node_name, namespace, default_options))
 
         new(rcl_node)
     end
 end
 
-NodeBase(node_name) = NodeBase(node_name, "")
-Base.finalize(rcl_node::internal.rcl_node_t) = internal.checkcall(internal.rcl_node_fini(pointer_from_objref(rcl_node)); suppress_throw=true)
+NodeBase(node_name) = NodeBase(node_name, "/")
+Base.finalize(rcl_node::Ref{internal.rcl_node_t}) = internal.checkcall(internal.rcl_node_fini(rcl_node); suppress_throw=true)
 Base.finalize(nb::NodeBase) = finalize(nb.rcl_node)
 
 mutable struct CallbackGroup
 end
 
-function name(nb::NodeBase) end
-function namespace(nb::NodeBase) end
+function name(nb::NodeBase)
+    n = internal.rcl_node_get_name(nb.rcl_node)
+    n == C_NULL && error("node name returned NULL. Is the node NULL or un-initialized?")
+    unsafe_string(n)
+end
+
+function namespace(nb::NodeBase)
+    n = internal.rcl_node_get_namespace(nb.rcl_node)
+    n == C_NULL && error("node name returned NULL. Is the node NULL or un-initialized?")
+    unsafe_string(n)
+end
+
 function context(nb::NodeBase) end
 # function rcl_node_handle(nb::NodeBase) end
 function CallbackGroup(nb::NodeBase) end
 function default_callback_group(nb::NodeBase) end
 import Base: in, isvalid
 function in(cg::CallbackGroup, nb::NodeBase) end
-isvalid(nb::NodeBase) = internal.rcl_node_is_valid(pointer_from_objref(nb.rcl_node), C_NULL)
+isvalid(nb::NodeBase) = internal.rcl_node_is_valid(nb.rcl_node, C_NULL)
 function callback_groups(nb::NodeBase) end
 function callback_groups!(cbs, nb::NodeBase) end
 function associated_with_executor_atomic(nb::NodeBase) :: Threads.Atomic{Bool} end

test/unit/node_base.jl

@@ -4,15 +4,19 @@ using Rcl
 import Rcl.internal: rcutils_error_is_set, rcutils_reset_error
 using Test
 
-@testset "Node" begin
+@testset "node base" begin
     # initialize
     @test !rcl.ok()
     rcl.init()
     @test rcl.ok()
 
+    @test !rcutils_error_is_set()
     nb = rcl.NodeBase("test_node")
     @test rcl.isvalid(nb)
 
+    @test name(nb) == "test_node"
+    @test namespace(nb) == "/"
+
     # finalizing it shouldn't cause errors
     finalize(nb)
     @test !rcutils_error_is_set()
@@ -25,6 +29,19 @@ using Test
     rcutils_reset_error()
     @test !rcutils_error_is_set()
 
+    @testset "name and namspace" begin
+        foo_node = rcl.NodeBase("foo", "foo_ns")
+        @test name(foo_node) == "foo"
+        @test namespace(foo_node) == "/foo_ns"
+
+        bar_node = rcl.NodeBase("bar", "/biz/baz")
+        @test name(bar_node) == "bar"
+        @test namespace(bar_node) == "/biz/baz"
+
+        finalize(foo_node)
+        finalize(bar_node)
+    end
+
     # shutdown
     @test rcl.ok()
     rcl.shutdown()