[24527] Append action infix to action topics

ddsenabler/examples/action/CLIParser.hpp

@@ -30,7 +30,7 @@ class CLIParser
     struct example_config
     {
         std::string config_file_path = "";
-        std::string action_name = "fibonacci/_action/";
+        std::string action_name = "fibonacci";
         bool announce_server = true;
         uint32_t timeout = 30;
         std::string persistence_path = "";
@@ -60,7 +60,7 @@ class CLIParser
             std::endl;
         std::cout << "--action-name <str>                   Name of the action to be registered"                   <<
             std::endl;
-        std::cout << "                                      (Default: 'Fibonacci/_action/')"                       <<
+        std::cout << "                                      (Default: 'fibonacci')"                       <<
             std::endl;
         std::cout << "--timeout <num>                       Time (seconds) to wait before stopping the"            <<
             std::endl;

ddsenabler/examples/persistence/actions/fibonacci__action_ → ddsenabler/examples/persistence/actions/fibonacci

@@ -1,5 +1,5 @@
 {
-    "action_name": "fibonacci/_action/",
+    "action_name": "fibonacci",
     "cancel_reply_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",
     "cancel_reply_action_type": "action_msgs::srv::dds_::CancelGoal_Response_",
     "cancel_request_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",

ddsenabler/test/ddsEnablerTests/DdsEnablerTest.cpp

@@ -428,7 +428,7 @@ TEST_F(DDSEnablerTest, action_client)
     std::this_thread::sleep_for(std::chrono::seconds(2));
 
     std::string json = "{\"order\": 20}";
-    std::string action_name = "fibonacci/_action/";
+    std::string action_name = "fibonacci";
     UUID action_id;
 
     ASSERT_FALSE(enabler->send_action_goal(action_name, json, action_id));
@@ -439,7 +439,7 @@ TEST_F(DDSEnablerTest, action_server)
     auto enabler = create_ddsenabler();
     ASSERT_TRUE(enabler != nullptr);
 
-    std::string action_name = "fibonacci/_action/";
+    std::string action_name = "fibonacci";
 
     ASSERT_FALSE(enabler->revoke_action(action_name));
     ASSERT_TRUE(enabler->announce_action(action_name));

ddsenabler/test/ddsEnablerTests/test_files/fibonacci__action_ → ddsenabler/test/ddsEnablerTests/test_files/fibonacci

@@ -1,5 +1,5 @@
 {
-    "action_name": "fibonacci/_action/",
+    "action_name": "fibonacci",
     "cancel_reply_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",
     "cancel_reply_action_type": "action_msgs::srv::dds_::CancelGoal_Response_",
     "cancel_request_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",

ddsenabler_participants/include/ddsenabler_participants/Constants.hpp

@@ -44,6 +44,7 @@ constexpr const char* DDS_REPLY_PREFIX("");
 constexpr const char* DDS_REPLY_SUFFIX("_Reply");
 
 // Action mangling
+constexpr const char* ACTION_INFIX("/_action/");
 constexpr const char* ACTION_GOAL_SUFFIX("send_goal");
 constexpr const char* ACTION_RESULT_SUFFIX("get_result");
 constexpr const char* ACTION_CANCEL_SUFFIX("cancel_goal");

ddsenabler_participants/src/cpp/EnablerParticipant.cpp

@@ -512,7 +512,7 @@ bool EnablerParticipant::send_action_goal(
         Protocol Protocol)
 {
     std::string goal_json = RpcUtils::create_goal_request_msg(json, action_id);
-    std::string goal_request_topic = action_name + ACTION_GOAL_SUFFIX;
+    std::string goal_request_topic = action_name + ACTION_INFIX + ACTION_GOAL_SUFFIX;
     uint64_t goal_request_id = 0;
 
     if (!send_service_request(
@@ -561,7 +561,7 @@ bool EnablerParticipant::cancel_action_goal(
     Protocol protocol = handler_->get_action_protocol(action_name, goal_id);
 
     uint64_t cancel_request_id = 0;
-    std::string cancel_request_topic = action_name + ACTION_CANCEL_SUFFIX;
+    std::string cancel_request_topic = action_name + ACTION_INFIX + ACTION_CANCEL_SUFFIX;
 
     if (send_service_request(
                 cancel_request_topic,
@@ -583,7 +583,7 @@ bool EnablerParticipant::send_action_get_result_request(
 {
     std::string json = RpcUtils::create_result_request_msg(action_id);
 
-    std::string get_result_request_topic = action_name + ACTION_RESULT_SUFFIX;
+    std::string get_result_request_topic = action_name + ACTION_INFIX + ACTION_RESULT_SUFFIX;
     uint64_t get_result_request_id = 0;
 
     Protocol protocol = handler_->get_action_protocol(action_name, action_id);
@@ -623,7 +623,7 @@ void EnablerParticipant::send_action_send_goal_reply(
     std::string reply_json = RpcUtils::create_goal_reply_msg(accepted);
 
     if (!send_service_reply(
-                action_name + ACTION_GOAL_SUFFIX,
+                action_name + ACTION_INFIX + ACTION_GOAL_SUFFIX,
                 reply_json,
                 goal_id))
     {
@@ -654,7 +654,7 @@ bool EnablerParticipant::send_action_cancel_goal_reply(
     std::string reply_json = RpcUtils::create_cancel_reply_msg(cancelling_goals, cancel_code);
 
     if (!send_service_reply(
-                std::string(action_name) + ACTION_CANCEL_SUFFIX,
+                std::string(action_name) + ACTION_INFIX + ACTION_CANCEL_SUFFIX,
                 reply_json,
                 request_id))
     {
@@ -691,7 +691,7 @@ bool EnablerParticipant::send_action_get_result_reply(
         const std::string& reply_json,
         const uint64_t request_id)
 {
-    std::string result_topic = action_name + ACTION_RESULT_SUFFIX;
+    std::string result_topic = action_name + ACTION_INFIX + ACTION_RESULT_SUFFIX;
 
     if (send_service_reply(
                 result_topic,
@@ -740,7 +740,7 @@ bool EnablerParticipant::send_action_feedback(
     }
 
     std::string feedback_json = RpcUtils::create_feedback_msg(json, goal_id);
-    std::string feedback_topic = prefix + std::string(action_name) + ACTION_FEEDBACK_SUFFIX;
+    std::string feedback_topic = prefix + std::string(action_name) + ACTION_INFIX + ACTION_FEEDBACK_SUFFIX;
 
     return publish(feedback_topic, feedback_json);
 }
@@ -778,7 +778,7 @@ bool EnablerParticipant::update_action_status(
     }
 
     std::string status_json = RpcUtils::create_status_msg(goal_id, status_code, goal_accepted_stamp);
-    std::string status_topic = prefix + action_name + ACTION_STATUS_SUFFIX;
+    std::string status_topic = prefix + action_name + ACTION_INFIX + ACTION_STATUS_SUFFIX;
     return publish(status_topic, status_json);
 }
 
@@ -856,9 +856,9 @@ bool EnablerParticipant::query_action_nts_(
         return false;
     }
 
-    std::string goal_service_name = action.action_name + ACTION_GOAL_SUFFIX;
-    std::string cancel_service_name = action.action_name + ACTION_CANCEL_SUFFIX;
-    std::string result_service_name = action.action_name + ACTION_RESULT_SUFFIX;
+    std::string goal_service_name = action.action_name + ACTION_INFIX + ACTION_GOAL_SUFFIX;
+    std::string cancel_service_name = action.action_name + ACTION_INFIX + ACTION_CANCEL_SUFFIX;
+    std::string result_service_name = action.action_name + ACTION_INFIX + ACTION_RESULT_SUFFIX;
     std::vector<std::string> topics_names =
     {
         goal_service_name,
@@ -950,7 +950,7 @@ bool EnablerParticipant::query_action_nts_(
             return false;
     }
 
-    std::string feedback_topic_name = prefix + action.action_name + ACTION_FEEDBACK_SUFFIX;
+    std::string feedback_topic_name = prefix + action.action_name + ACTION_INFIX + ACTION_FEEDBACK_SUFFIX;
     DdsTopic feedback_topic;
     if (!fill_topic_struct_nts_(
                 feedback_topic_name,
@@ -980,7 +980,7 @@ bool EnablerParticipant::query_action_nts_(
     action.feedback = feedback_topic;
     action.feedback_discovered = true;
 
-    std::string status_topic_name = prefix + action.action_name + ACTION_STATUS_SUFFIX;
+    std::string status_topic_name = prefix + action.action_name + ACTION_INFIX + ACTION_STATUS_SUFFIX;
     DdsTopic status_topic;
     if (!fill_topic_struct_nts_(
                 status_topic_name,

ddsenabler_participants/src/cpp/rpc/RpcStructs.cpp

@@ -22,6 +22,24 @@ namespace eprosima {
 namespace ddsenabler {
 namespace participants {
 
+/**
+ *  Remove the ACTION_INFIX ("/_action/") substring from @p name wherever it occurs.
+ *
+ *  @param [in, out] name The name to be stripped.
+ *  @return true and updates @p name if the infix was found; false otherwise.
+ */
+static bool strip_action_infix(
+        std::string& name)
+{
+    const std::size_t pos = name.find(ACTION_INFIX);
+    if (pos == std::string::npos)
+    {
+        return false;
+    }
+    name.erase(pos, std::strlen(ACTION_INFIX));
+    return true;
+}
+
 RpcAction::RpcAction(
         const std::string& action_name,
         const ddspipe::core::types::RpcTopic& goal,
@@ -115,32 +133,43 @@ void RpcInfo::extract_rpc_info()
         service_type = ServiceType::REQUEST;
         service_name = base;
 
+        if (strip_action_infix(base))
+        {
+            rpc_type = RpcType::ACTION;
+        }
+
+        if (rpc_type != RpcType::ACTION)
+        {
+            rpc_type = RpcType::SERVICE;
+            return;
+        }
+
+        // Check the action type suffix, and extract the action name
         if (base.size() >= (std::strlen(ACTION_GOAL_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_GOAL_SUFFIX))) == ACTION_GOAL_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_GOAL_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::GOAL;
-            return;
         }
         else if (base.size() >= (std::strlen(ACTION_RESULT_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_RESULT_SUFFIX))) == ACTION_RESULT_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_RESULT_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::RESULT;
-            return;
         }
         else if (base.size() >= (std::strlen(ACTION_CANCEL_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_CANCEL_SUFFIX))) == ACTION_CANCEL_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_CANCEL_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::CANCEL;
-            return;
         }
-
-        rpc_type = RpcType::SERVICE;
+        else
+        {
+            EPROSIMA_LOG_ERROR(DDSENABLER_RPC_UTILS,
+                    "Failed to extract RPC info from topic name " << topic_name <<
+                                ": unknown action request type suffix");
+            throw std::runtime_error("Unknown action request type suffix");
+        }
         return;
     }
 
@@ -154,58 +183,74 @@ void RpcInfo::extract_rpc_info()
         service_type = ServiceType::REPLY;
         service_name = base;
 
+        if (strip_action_infix(base))
+        {
+            rpc_type = RpcType::ACTION;
+        }
+
+        if (rpc_type != RpcType::ACTION)
+        {
+            rpc_type = RpcType::SERVICE;
+            return;
+        }
+
         if (base.size() >= (std::strlen(ACTION_GOAL_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_GOAL_SUFFIX))) == ACTION_GOAL_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_GOAL_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::GOAL;
-            return;
         }
         else if (base.size() >= (std::strlen(ACTION_RESULT_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_RESULT_SUFFIX))) == ACTION_RESULT_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_RESULT_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::RESULT;
-            return;
         }
         else if (base.size() >= (std::strlen(ACTION_CANCEL_SUFFIX)) &&
                 base.substr(base.size() - (std::strlen(ACTION_CANCEL_SUFFIX))) == ACTION_CANCEL_SUFFIX)
         {
             action_name = base.substr(0, base.size() - (std::strlen(ACTION_CANCEL_SUFFIX)));
-            rpc_type = RpcType::ACTION;
             action_type = ActionType::CANCEL;
-            return;
         }
-
-        rpc_type = RpcType::SERVICE;
+        else
+        {
+            EPROSIMA_LOG_ERROR(DDSENABLER_RPC_UTILS,
+                    "Failed to extract RPC info from topic name " << topic_name <<
+                                ": unknown action reply type suffix");
+            throw std::runtime_error("Unknown action reply type suffix");
+        }
         return;
     }
 
     // Check for action feedback/status topics
-    if (Protocol::ROS2 != protocol) // Feedback and Status topics only exist for ROS2 actions
+    if (strip_action_infix(base))
+    {
+        rpc_type = RpcType::ACTION;
+    }
+    if (Protocol::ROS2 != protocol || rpc_type != RpcType::ACTION) // Feedback and Status topics only exist for ROS2 actions
     {
         return;
     }
     base = base.substr(topic_prefix.length());
-    if (base.size() >= (std::strlen(ACTION_FEEDBACK_SUFFIX) + 1) &&
-            base.substr(base.size() - (std::strlen(ACTION_FEEDBACK_SUFFIX) + 1)) ==
-            (std::string("/") + ACTION_FEEDBACK_SUFFIX))
+    if (base.size() >= (std::strlen(ACTION_FEEDBACK_SUFFIX)) &&
+            base.substr(base.size() - (std::strlen(ACTION_FEEDBACK_SUFFIX))) ==
+            (ACTION_FEEDBACK_SUFFIX))
     {
-        action_name = base.substr(0, base.size() - std::strlen(ACTION_FEEDBACK_SUFFIX));
-        rpc_type = RpcType::ACTION;
+        action_name = base.substr(0, base.size() - (std::strlen(ACTION_FEEDBACK_SUFFIX)));
         action_type = ActionType::FEEDBACK;
-        return;
     }
-    if (base.size() >= (std::strlen(ACTION_STATUS_SUFFIX) + 1) &&
-            base.substr(base.size() - (std::strlen(ACTION_STATUS_SUFFIX) + 1)) ==
-            (std::string("/") + ACTION_STATUS_SUFFIX))
+    else if (base.size() >= (std::strlen(ACTION_STATUS_SUFFIX)) &&
+            base.substr(base.size() - (std::strlen(ACTION_STATUS_SUFFIX))) ==
+            (ACTION_STATUS_SUFFIX))
     {
         action_name = base.substr(0, base.size() - (std::strlen(ACTION_STATUS_SUFFIX)));
-        rpc_type = RpcType::ACTION;
         action_type = ActionType::STATUS;
-        return;
+    }
+    else
+    {
+        EPROSIMA_LOG_ERROR(DDSENABLER_RPC_UTILS,
+                "Failed to extract RPC info from topic name " << topic_name << ": unknown topic type suffix");
+        throw std::runtime_error("Unknown topic type suffix");
     }
 
     return;

ddsenabler_test/compose/test_cases/actions/action_client/compose.yml

@@ -12,7 +12,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-      - ../persistence:/persistence
+      - ../persistence:/persistence:ro
     command: ./install/ddsenabler/examples/action/ddsenabler_example_action client --persistence-path /persistence --goals-path /persistence/goals --config /config/config.yml --request-initial-wait 2
 
   fibonacci_server:

ddsenabler_test/compose/test_cases/actions/action_client_cancel/compose.yml

@@ -11,7 +11,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-      - ../persistence:/persistence
+      - ../persistence:/persistence:ro
     command: ./install/ddsenabler/examples/action/ddsenabler_example_action client --persistence-path /persistence --goals-path /persistence/goals --config /config/config.yml --request-initial-wait 2 --cancel-requests true
 
   fibonacci_server:

ddsenabler_test/compose/test_cases/actions/action_server/compose.yml

@@ -10,7 +10,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-      - ../persistence:/persistence
+      - ../persistence:/persistence:ro
     command: ./install/ddsenabler/examples/action/ddsenabler_example_action server --persistence-path /persistence --goals-path /persistence/goals --config /config/config.yml --expected-requests 3
 
   fibonacci_client:

ddsenabler_test/compose/test_cases/actions/action_server_multiclient/compose.yml

@@ -10,7 +10,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-      - ../persistence:/persistence
+      - ../persistence:/persistence:ro
     command: ./install/ddsenabler/examples/action/ddsenabler_example_action server --persistence-path /persistence --goals-path /persistence/goals --config /config/config.yml --expected-requests 9
 
   fibonacci_client_1:

ddsenabler_test/compose/test_cases/actions/persistence/actions/fibonacci__action_ → ddsenabler_test/compose/test_cases/actions/persistence/actions/fibonacci

@@ -1,5 +1,5 @@
 {
-    "action_name": "fibonacci/_action/",
+    "action_name": "fibonacci",
     "cancel_reply_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",
     "cancel_reply_action_type": "action_msgs::srv::dds_::CancelGoal_Response_",
     "cancel_request_action_serialized_qos": "reliability: true\ndurability: false\nownership: false\nkeyed: false",
@@ -16,4 +16,4 @@
     "result_request_action_type": "action_tutorials_interfaces::action::dds_::Fibonacci_GetResult_Request_",
     "status_action_serialized_qos": "reliability: true\ndurability: true\nownership: false\nkeyed: false",
     "status_action_type": "action_msgs::msg::dds_::GoalStatusArray_"
-}
+}

ddsenabler_test/compose/test_cases/services/service_client/compose.yml

@@ -12,7 +12,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-      - ../persistence:/persistence
+      - ../persistence:/persistence:ro
     command: ./install/ddsenabler/examples/service/ddsenabler_example_service client --persistence-path /persistence --requests-path /persistence/requests --config /config/config.yml --request-initial-wait 2
   add_two_ints_server:
     image: ${DDSENABLER_COMPOSE_TEST_ROS2_DOCKER_IMAGE}