From 0757fd2a245f6bbfa658ff033f5e31a2cf7b7b24 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Fri, 18 Sep 2020 20:09:21 -0300
Subject: [PATCH] Update graph API return codes.

This patch affects:
- rmw_get_node_names()
- rmw_get_node_names_with_enclaves()
- rmw_get_topic_names_and_types()
- rmw_get_service_names_and_types()
- rmw_get_publishers_info_by_topic()
- rmw_get_subscriptions_info_by_topic()
- rmw_get_subscriber_names_and_types_by_node()
- rmw_get_publisher_names_and_types_by_node()
- rmw_get_service_names_and_types_by_node()
- rmw_get_client_names_and_types_by_node()
- rmw_count_publishers()
- rmw_count_subscribers()

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rmw_cyclonedds_cpp/src/rmw_node.cpp | 178 ++++++++++++++++++++++------
 1 file changed, 144 insertions(+), 34 deletions(-)

diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 32cb8f6a..2ff316fe 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -4079,12 +4079,17 @@ extern "C" rmw_ret_t rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  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;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   auto common_context = &node->context->impl->common;
@@ -4102,12 +4107,20 @@ extern "C" rmw_ret_t rmw_get_node_names_with_enclaves(
   rcutils_string_array_t * node_namespaces,
   rcutils_string_array_t * enclaves)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  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;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  if (RMW_RET_OK != rmw_check_zero_rmw_string_array(enclaves)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   auto common_context = &node->context->impl->common;
@@ -4124,12 +4137,16 @@ extern "C" rmw_ret_t rmw_get_topic_names_and_types(
   rcutils_allocator_t * allocator,
   bool no_demangle, rmw_names_and_types_t * tptyp)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  RET_NULL(allocator);
-  rmw_ret_t ret = rmw_names_and_types_check_zero(tptyp);
-  if (ret != RMW_RET_OK) {
-    return ret;
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_names_and_types_check_zero(tptyp)) {
+    return RMW_RET_INVALID_ARGUMENT;
   }
 
   DemangleFunction demangle_topic = _demangle_ros_topic_from_topic;
@@ -4151,6 +4168,18 @@ extern "C" rmw_ret_t rmw_get_service_names_and_types(
   rcutils_allocator_t * allocator,
   rmw_names_and_types_t * sntyp)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_names_and_types_check_zero(sntyp)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
   auto common_context = &node->context->impl->common;
   return common_context->graph_cache.get_names_and_types(
     _demangle_service_from_topic,
@@ -4261,6 +4290,25 @@ extern "C" rmw_ret_t rmw_count_publishers(
   const rmw_node_t * node, const char * topic_name,
   size_t * count)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_TOPIC_VALID;
+  rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_TOPIC_VALID != validation_result) {
+    const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
+
   auto common_context = &node->context->impl->common;
   const std::string mangled_topic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", false);
   return common_context->graph_cache.get_writer_count(mangled_topic_name, count);
@@ -4270,6 +4318,25 @@ extern "C" rmw_ret_t rmw_count_subscribers(
   const rmw_node_t * node, const char * topic_name,
   size_t * count)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_TOPIC_VALID;
+  rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_TOPIC_VALID != validation_result) {
+    const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("topic_name argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
+
   auto common_context = &node->context->impl->common;
   const std::string mangled_topic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", false);
   return common_context->graph_cache.get_reader_count(mangled_topic_name, count);
@@ -4295,12 +4362,39 @@ static rmw_ret_t get_topic_names_and_types_by_node(
   GetNamesAndTypesByNodeFunction get_names_and_types_by_node,
   rmw_names_and_types_t * topic_names_and_types)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  RET_NULL(allocator);
-  RET_NULL(node_name);
-  RET_NULL(node_namespace);
-  RET_NULL(topic_names_and_types);
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  int validation_result = RMW_NODE_NAME_VALID;
+  rmw_ret_t ret = rmw_validate_node_name(node_name, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_NODE_NAME_VALID != validation_result) {
+    const char * reason = rmw_node_name_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_name argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  validation_result = RMW_NAMESPACE_VALID;
+  ret = rmw_validate_namespace(node_namespace, &validation_result, nullptr);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+  if (RMW_NAMESPACE_VALID != validation_result) {
+    const char * reason = rmw_namespace_validation_result_string(validation_result);
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("node_namespace argument is invalid: %s", reason);
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  ret = rmw_names_and_types_check_zero(topic_names_and_types);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
+
   auto common_context = &node->context->impl->common;
   if (no_demangle) {
     demangle_topic = _identity_demangle;
@@ -4425,11 +4519,19 @@ extern "C" rmw_ret_t rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * publishers_info)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  RET_NULL(allocator);
-  RET_NULL(topic_name);
-  RET_NULL(publishers_info);
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(publishers_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
   auto common_context = &node->context->impl->common;
   std::string mangled_topic_name = topic_name;
   DemangleFunction demangle_type = _identity_demangle;
@@ -4451,11 +4553,19 @@ extern "C" rmw_ret_t rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info)
 {
-  RET_NULL(node);
-  RET_WRONG_IMPLID(node);
-  RET_NULL(allocator);
-  RET_NULL(topic_name);
-  RET_NULL(subscriptions_info);
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(subscriptions_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
   auto common_context = &node->context->impl->common;
   std::string mangled_topic_name = topic_name;
   DemangleFunction demangle_type = _identity_demangle;