this_node.cpp

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <cstdio>
#include "ros/this_node.h"
#include "ros/names.h"
#include "ros/topic_manager.h"
#include "ros/init.h"
 
namespace ros
{
 
namespace names
{
void init(const M_string& remappings);
}
 
namespace this_node
{
 
// collect all static variables into a singleton to ensure proper destruction order
class ThisNode
{
  std::string name_;
  std::string namespace_;
 
  ThisNode() : name_("empty") {}
 
public:
  static ThisNode& instance()
  {
    static ThisNode singleton;
    return singleton;
  }
 
  const std::string& getName() const
  {
    return name_;
  }
 
  const std::string& getNamespace() const
  {
    return namespace_;
  }
 
  void init(const std::string& name, const M_string& remappings, uint32_t options);
};
 
 
const std::string& getName()
{
  return ThisNode::instance().getName();
}
 
const std::string& getNamespace()
{
  return ThisNode::instance().getNamespace();
}
 
void getAdvertisedTopics(V_string& topics)
{
  TopicManager::instance()->getAdvertisedTopics(topics);
}
 
void getSubscribedTopics(V_string& topics)
{
  TopicManager::instance()->getSubscribedTopics(topics);
}
 
void init(const std::string& name, const M_string& remappings, uint32_t options)
{
  ThisNode::instance().init(name, remappings, options);
}
 
void ThisNode::init(const std::string& name, const M_string& remappings, uint32_t options)
{
  char *ns_env = NULL;
#ifdef _MSC_VER
  _dupenv_s(&ns_env, NULL, "ROS_NAMESPACE");
#else
  ns_env = getenv("ROS_NAMESPACE");
#endif
 
  if (ns_env)
  {
    namespace_ = ns_env;
#ifdef _MSC_VER
    free(ns_env);
#endif
  }
 
  if (name.empty()) {
    throw InvalidNameException("The node name must not be empty");
  }
 
  name_ = name;
 
  bool disable_anon = false;
  M_string::const_iterator it = remappings.find("__name");
  if (it != remappings.end())
  {
    name_ = it->second;
    disable_anon = true;
  }
 
  it = remappings.find("__ns");
  if (it != remappings.end())
  {
    namespace_ = it->second;
  }
 
  namespace_ = names::clean(namespace_);
  if (namespace_.empty() || (namespace_[0] != '/'))
  {
    namespace_ = "/" + namespace_;
  }
 
  std::string error;
  if (!names::validate(namespace_, error))
  {
    std::stringstream ss;
    ss << "Namespace [" << namespace_ << "] is invalid: " << error;
    throw InvalidNameException(ss.str());
  }
 
  // names must be initialized here, because it requires the namespace to already be known so that it can properly resolve names.
  // It must be done before we resolve g_name, because otherwise the name will not get remapped.
  names::init(remappings);
 
  if (name_.find("/") != std::string::npos)
  {
    throw InvalidNodeNameException(name_, "node names cannot contain /");
  }
  if (name_.find("~") != std::string::npos)
  {
    throw InvalidNodeNameException(name_, "node names cannot contain ~");
  }
 
  name_ = names::resolve(namespace_, name_);
 
  if (options & init_options::AnonymousName && !disable_anon)
  {
    char buf[200];
    std::snprintf(buf, sizeof(buf), "_%llu", (unsigned long long)WallTime::now().toNSec());
    name_ += buf;
  }
 
  ros::console::setFixedFilterToken("node", name_);
}
 
} // namespace this_node
 
} // namespace ros