Added remapping resolution for action names

rcl_action/src/rcl_action/action_client.c

@@ -99,7 +99,7 @@ _rcl_action_client_fini_impl(
   {
     ret = RCL_RET_ERROR;
   }
-  allocator.deallocate(action_client->impl->action_name, allocator.state);
+  allocator.deallocate(action_client->impl->remapped_action_name, allocator.state);
   allocator.deallocate(action_client->impl, allocator.state);
   action_client->impl = NULL;
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client finalized");
@@ -109,7 +109,8 @@ _rcl_action_client_fini_impl(
 // \internal Initializes an action client specific service client.
 #define CLIENT_INIT(Type) \
   char * Type ## _service_name = NULL; \
-  ret = rcl_action_get_ ## Type ## _service_name(action_name, allocator, &Type ## _service_name); \
+  ret = rcl_action_get_ ## Type ## _service_name( \
+    resolved_action_name, allocator, &Type ## _service_name); \
   if (RCL_RET_OK != ret) { \
     rcl_reset_error(); \
     RCL_SET_ERROR_MSG("failed to get " #Type " service name"); \
@@ -145,7 +146,8 @@ _rcl_action_client_fini_impl(
 // \internal Initializes an action client specific topic subscription.
 #define SUBSCRIPTION_INIT(Type) \
   char * Type ## _topic_name = NULL; \
-  ret = rcl_action_get_ ## Type ## _topic_name(action_name, allocator, &Type ## _topic_name); \
+  ret = rcl_action_get_ ## Type ## _topic_name( \
+    resolved_action_name, allocator, &Type ## _topic_name); \
   if (RCL_RET_OK != ret) { \
     rcl_reset_error(); \
     RCL_SET_ERROR_MSG("failed to get " #Type " topic name"); \
@@ -212,9 +214,22 @@ rcl_action_client_init(
 
   // Avoid uninitialized pointers should initialization fail
   *action_client->impl = _rcl_action_get_zero_initialized_client_impl();
+
+  // Remap/Expand the action name
+  char * resolved_action_name = NULL;
+  ret = rcl_node_resolve_name(node, action_name, allocator, false, false, &resolved_action_name);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_TOPIC_NAME_INVALID == ret || RCL_RET_UNKNOWN_SUBSTITUTION == ret) {
+      ret = RCL_RET_ACTION_NAME_INVALID;
+    } else if (RCL_RET_BAD_ALLOC != ret) {
+      ret = RCL_RET_ERROR;
+    }
+    goto fail;
+  }
+
   // Copy action client name and options.
-  action_client->impl->action_name = rcutils_strdup(action_name, allocator);
-  if (NULL == action_client->impl->action_name) {
+  action_client->impl->remapped_action_name = rcutils_strdup(resolved_action_name, allocator);
+  if (NULL == action_client->impl->remapped_action_name) {
     RCL_SET_ERROR_MSG("failed to duplicate action name");
     ret = RCL_RET_BAD_ALLOC;
     goto fail;
@@ -230,6 +245,10 @@ rcl_action_client_init(
   SUBSCRIPTION_INIT(feedback);
   SUBSCRIPTION_INIT(status);
 
+  // The resolved action name is no longer needed
+  allocator.deallocate(resolved_action_name, allocator.state);
+  resolved_action_name = NULL;
+
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -244,6 +263,11 @@ rcl_action_client_init(
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
   return ret;
 fail:
+  // Deallocate the resolved action name
+  if (NULL != resolved_action_name) {
+    allocator.deallocate(resolved_action_name, allocator.state);
+  }
+
   fini_ret = _rcl_action_client_fini_impl(action_client, node, allocator);
   if (RCL_RET_OK != fini_ret) {
     RCL_SET_ERROR_MSG("failed to cleanup action client");
@@ -471,7 +495,7 @@ rcl_action_client_get_action_name(const rcl_action_client_t * action_client)
   if (!rcl_action_client_is_valid(action_client)) {
     return NULL;
   }
-  return action_client->impl->action_name;
+  return action_client->impl->remapped_action_name;
 }
 
 const rcl_action_client_options_t *

rcl_action/src/rcl_action/action_client_impl.h

@@ -26,7 +26,7 @@ typedef struct rcl_action_client_impl_s
   rcl_subscription_t feedback_subscription;
   rcl_subscription_t status_subscription;
   rcl_action_client_options_t options;
-  char * action_name;
+  char * remapped_action_name;
   // Wait set records
   size_t wait_set_goal_client_index;
   size_t wait_set_cancel_client_index;

rcl_action/src/rcl_action/action_server.c

@@ -46,7 +46,8 @@ rcl_action_get_zero_initialized_server(void)
 
 #define SERVICE_INIT(Type) \
   char * Type ## _service_name = NULL; \
-  ret = rcl_action_get_ ## Type ## _service_name(action_name, allocator, &Type ## _service_name); \
+  ret = rcl_action_get_ ## Type ## _service_name( \
+    resolved_action_name, allocator, &Type ## _service_name); \
   if (RCL_RET_OK != ret) { \
     if (RCL_RET_BAD_ALLOC == ret) { \
       ret = RCL_RET_BAD_ALLOC; \
@@ -80,7 +81,8 @@ rcl_action_get_zero_initialized_server(void)
 
 #define PUBLISHER_INIT(Type) \
   char * Type ## _topic_name = NULL; \
-  ret = rcl_action_get_ ## Type ## _topic_name(action_name, allocator, &Type ## _topic_name); \
+  ret = rcl_action_get_ ## Type ## _topic_name( \
+    resolved_action_name, allocator, &Type ## _topic_name); \
   if (RCL_RET_OK != ret) { \
     if (RCL_RET_BAD_ALLOC == ret) { \
       ret = RCL_RET_BAD_ALLOC; \
@@ -155,14 +157,26 @@ rcl_action_server_init(
   action_server->impl->expire_timer = rcl_get_zero_initialized_timer();
   action_server->impl->feedback_publisher = rcl_get_zero_initialized_publisher();
   action_server->impl->status_publisher = rcl_get_zero_initialized_publisher();
-  action_server->impl->action_name = NULL;
+  action_server->impl->remapped_action_name = NULL;
   action_server->impl->options = *options;  // copy options
   action_server->impl->goal_handles = NULL;
   action_server->impl->num_goal_handles = 0u;
   action_server->impl->clock = NULL;
   action_server->impl->type_hash = rosidl_get_zero_initialized_type_hash();
 
   rcl_ret_t ret = RCL_RET_OK;
+  // Resolve action name
+  char * resolved_action_name = NULL;
+  ret = rcl_node_resolve_name(node, action_name, allocator, false, false, &resolved_action_name);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_TOPIC_NAME_INVALID == ret || RCL_RET_UNKNOWN_SUBSTITUTION == ret) {
+      ret = RCL_RET_ACTION_NAME_INVALID;
+    } else if (RCL_RET_BAD_ALLOC != ret) {
+      ret = RCL_RET_ERROR;
+    }
+    goto fail;
+  }
+
   // Initialize services
   SERVICE_INIT(goal);
   SERVICE_INIT(cancel);
@@ -189,12 +203,16 @@ rcl_action_server_init(
   }
 
   // Copy action name
-  action_server->impl->action_name = rcutils_strdup(action_name, allocator);
-  if (NULL == action_server->impl->action_name) {
+  action_server->impl->remapped_action_name = rcutils_strdup(resolved_action_name, allocator);
+  if (NULL == action_server->impl->remapped_action_name) {
     ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
 
+  // The resolved_action_name is no longer needed
+  allocator.deallocate(resolved_action_name, allocator.state);
+  resolved_action_name = NULL;
+
   // Store type hash
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
@@ -210,6 +228,10 @@ rcl_action_server_init(
   return ret;
 fail:
   {
+    // Deallocate the resolved action name
+    if (NULL != resolved_action_name) {
+      allocator.deallocate(resolved_action_name, allocator.state);
+    }
     // Finalize any services/publishers that were initialized and deallocate action_server->impl
     rcl_ret_t ret_throwaway = rcl_action_server_fini(action_server, node);
     // Since there is already a failure, it is likely that finalize will error on one or more of
@@ -254,9 +276,9 @@ rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node)
     action_server->impl->clock = NULL;
     // Deallocate action name
     rcl_allocator_t allocator = action_server->impl->options.allocator;
-    if (action_server->impl->action_name) {
-      allocator.deallocate(action_server->impl->action_name, allocator.state);
-      action_server->impl->action_name = NULL;
+    if (action_server->impl->remapped_action_name) {
+      allocator.deallocate(action_server->impl->remapped_action_name, allocator.state);
+      action_server->impl->remapped_action_name = NULL;
     }
     // Deallocate goal handles storage, but don't fini them.
     for (size_t i = 0; i < action_server->impl->num_goal_handles; ++i) {
@@ -860,7 +882,7 @@ rcl_action_server_get_action_name(const rcl_action_server_t * action_server)
   if (!rcl_action_server_is_valid(action_server)) {
     return NULL;  // error already set
   }
-  return action_server->impl->action_name;
+  return action_server->impl->remapped_action_name;
 }
 
 const rcl_action_server_options_t *

rcl_action/src/rcl_action/action_server_impl.h

@@ -27,7 +27,7 @@ typedef struct rcl_action_server_impl_s
   rcl_publisher_t feedback_publisher;
   rcl_publisher_t status_publisher;
   rcl_timer_t expire_timer;
-  char * action_name;
+  char * remapped_action_name;
   rcl_action_server_options_t options;
   // Array of goal handles
   rcl_action_goal_handle_t ** goal_handles;

rcl_action/test/rcl_action/test_action_client.cpp

@@ -240,7 +240,7 @@ class TestActionClientFixture : public TestActionClientBaseFixture
     TestActionClientBaseFixture::TearDown();
   }
 
-  const char * const action_name = "test_action_client_name";
+  const char * const action_name = "/test_action_client_name";
   rcl_action_client_options_t action_client_options;
   rcl_action_client_t invalid_action_client;
   rcl_action_client_t action_client;

rcl_action/test/rcl_action/test_action_server.cpp

@@ -777,7 +777,7 @@ TEST_F(TestActionServer, test_action_server_get_action_name)
   // Get action_name for a valid action server
   action_name = rcl_action_server_get_action_name(&this->action_server);
   ASSERT_NE(action_name, nullptr) << rcl_get_error_string().str;
-  EXPECT_STREQ(action_name, "test_action_server_name");
+  EXPECT_STREQ(action_name, "/test_action_server_name");
 }
 
 TEST_F(TestActionServer, test_action_server_get_options)