[21711] DataWriter/Reader get_matched_publication/subscription...() Feature implementation

include/fastdds/dds/publisher/DataWriter.hpp

@@ -517,9 +517,9 @@ class DataWriter : public DomainEntity
      *
      * @param[out] subscription_data subscription data struct
      * @param subscription_handle InstanceHandle_t of the subscription
-     * @return RETCODE_OK
+     * @return RETCODE_BAD_PARAMETER if the DataWriter is not matched with
+     * the given subscription handle, RETCODE_OK otherwise.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_subscription_data(
             builtin::SubscriptionBuiltinTopicData& subscription_data,
@@ -529,16 +529,20 @@ class DataWriter : public DomainEntity
      * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
      *
      * @param[out] subscription_handles Vector where the InstanceHandle_t are returned
-     * @return RETCODE_OK
+     * @return RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns RETCODE_OK.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_subscriptions(
             std::vector<InstanceHandle_t>& subscription_handles) const;
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
     FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastdds::dds:DataWriter::get_matched_subscriptions()",
             "In favor of version using std::vector<fastrtps::rtps::InstanceHandle_t>.")
+    /**
+     * @note User is responsible for the memory deallocation of the returned vector.
+     */
     RTPS_DllAPI ReturnCode_t get_matched_subscriptions(
             std::vector<InstanceHandle_t*>& subscription_handles) const;
 #endif // DOXYGEN_SHOULD_SKIP_THIS

include/fastdds/dds/subscriber/DataReader.hpp

@@ -977,9 +977,9 @@ class DataReader : public DomainEntity
      *
      * @param[out] publication_data publication data struct
      * @param publication_handle InstanceHandle_t of the publication
-     * @return RETCODE_OK
+     * @return RETCODE_BAD_PARAMETER if the DataReader is not matched with
+     * the given publication handle, RETCODE_OK otherwise.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_publication_data(
             builtin::PublicationBuiltinTopicData& publication_data,
@@ -989,9 +989,10 @@ class DataReader : public DomainEntity
      * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
      *
      * @param[out] publication_handles Vector where the InstanceHandle_t are returned
-     * @return RETCODE_OK
+     * @return RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns RETCODE_OK.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_publications(
             std::vector<InstanceHandle_t>& publication_handles) const;

include/fastdds/rtps/participant/RTPSParticipant.h

@@ -309,10 +309,10 @@ class RTPS_DllAPI RTPSParticipant
     std::vector<fastdds::rtps::TransportNetmaskFilterInfo> get_netmask_filter_info() const;
 
     /**
-     * @brief Fills the provided fastdds::dds::builtin::PublicationBuiltinTopicData with the information of the
+     * @brief Fills the provided publication data with the information of the
      * writer identified by writer_guid.
      *
-     * @param[out] data fastdds::dds::builtin::PublicationBuiltinTopicData to fill.
+     * @param[out] data publication data to fill.
      * @param[in] writer_guid GUID of the writer to get the information from.
      * @return True if the writer was found and the data was filled.
      */
@@ -321,10 +321,10 @@ class RTPS_DllAPI RTPSParticipant
             const GUID_t& writer_guid) const;
 
     /**
-     * @brief Fills the provided fastdds::dds::builtin::SubscriptionBuiltinTopicData with the information of the
+     * @brief Fills the provided subscription discovery data with the information of the
      * reader identified by reader_guid.
      *
-     * @param[out] data fastdds::dds::builtin::SubscriptionBuiltinTopicData to fill.
+     * @param[out] data subscription discovery data to fill.
      * @param[in] reader_guid GUID of the reader to get the information from.
      * @return True if the reader was found and the data was filled.
      */

include/fastdds/rtps/reader/RTPSReader.h

@@ -282,8 +282,8 @@ class RTPSReader
      * @param[out] guids Vector to be filled with the GUIDs of the matched writers.
      * @return True if the operation was successful.
      */
-    RTPS_DllAPI bool matched_writers_guids(
-            std::vector<GUID_t>& guids) const;
+    RTPS_DllAPI virtual bool matched_writers_guids(
+            std::vector<GUID_t>& guids) const = 0;
 
     /*!
      * @brief Returns there is a clean state with all Writers.

include/fastdds/rtps/reader/StatefulReader.h

@@ -328,6 +328,15 @@ class StatefulReader : public RTPSReader
             WriterProxy* writer,
             bool mark_as_read = true) override;
 
+    /**
+     * @brief Fills the provided vector with the GUIDs of the matched writers.
+     *
+     * @param[out] guids Vector to be filled with the GUIDs of the matched writers.
+     * @return True if the operation was successful.
+     */
+    bool matched_writers_guids(
+            std::vector<GUID_t>& guids) const override;
+
 #ifdef FASTDDS_STATISTICS
     bool get_connections(
             fastdds::statistics::rtps::ConnectionList& connection_list) override;

include/fastdds/rtps/reader/StatelessReader.h

@@ -253,6 +253,15 @@ class StatelessReader : public RTPSReader
             WriterProxy* writer,
             bool mark_as_read = true) override;
 
+    /**
+     * @brief Fills the provided vector with the GUIDs of the matched writers.
+     *
+     * @param[out] guids Vector to be filled with the GUIDs of the matched writers.
+     * @return True if the operation was successful.
+     */
+    bool matched_writers_guids(
+            std::vector<GUID_t>& guids) const override;
+
 #ifdef FASTDDS_STATISTICS
     bool get_connections(
             fastdds::statistics::rtps::ConnectionList& connection_list) override;

include/fastdds/rtps/writer/RTPSWriter.h

@@ -323,8 +323,8 @@ class RTPSWriter
      * @param[out] guids Vector to be filled with the GUIDs of the matched readers.
      * @return True if the operation was successful.
      */
-    RTPS_DllAPI bool matched_readers_guids(
-            std::vector<GUID_t>& guids) const;
+    RTPS_DllAPI virtual bool matched_readers_guids(
+            std::vector<GUID_t>& guids) const = 0;
 
     /**
      * Tries to remove a change waiting a maximum of the provided microseconds.

include/fastdds/rtps/writer/StatefulWriter.h

@@ -448,6 +448,15 @@ class StatefulWriter : public RTPSWriter
         return locator_selector_async_;
     }
 
+    /**
+     * @brief Fills the provided vector with the GUIDs of the matched readers.
+     *
+     * @param[out] guids Vector to be filled with the GUIDs of the matched readers.
+     * @return True if the operation was successful.
+     */
+    bool matched_readers_guids(
+            std::vector<GUID_t>& guids) const override;
+
 #ifdef FASTDDS_STATISTICS
     bool get_connections(
             fastdds::statistics::rtps::ConnectionList& connection_list) override;

include/fastdds/rtps/writer/StatelessWriter.h

@@ -241,6 +241,15 @@ class StatelessWriter : public RTPSWriter
         return locator_selector_;
     }
 
+    /**
+     * @brief Fills the provided vector with the GUIDs of the matched readers.
+     *
+     * @param[out] guids Vector to be filled with the GUIDs of the matched readers.
+     * @return True if the operation was successful.
+     */
+    bool matched_readers_guids(
+            std::vector<GUID_t>& guids) const override;
+
 #ifdef FASTDDS_STATISTICS
     bool get_connections(
             fastdds::statistics::rtps::ConnectionList& connection_list) override;

src/cpp/CMakeLists.txt

@@ -203,6 +203,7 @@ set(${PROJECT_NAME}_source_files
     rtps/builtin/liveliness/WLP.cpp
     rtps/builtin/liveliness/WLPListener.cpp
     rtps/builtin/data/ParticipantProxyData.cpp
+    rtps/builtin/data/ProxyDataConverters.cpp
     rtps/builtin/data/WriterProxyData.cpp
     rtps/builtin/data/ReaderProxyData.cpp
     rtps/flowcontrol/ThroughputControllerDescriptor.cpp

src/cpp/fastdds/publisher/DataWriter.cpp

@@ -302,32 +302,19 @@ ReturnCode_t DataWriter::get_matched_subscription_data(
         builtin::SubscriptionBuiltinTopicData& subscription_data,
         const InstanceHandle_t& subscription_handle) const
 {
-    static_cast<void> (subscription_data);
-    static_cast<void> (subscription_handle);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_data, subscription_handle);
-     */
+    return impl_->get_matched_subscription_data(subscription_data, subscription_handle);
 }
 
 ReturnCode_t DataWriter::get_matched_subscriptions(
         std::vector<InstanceHandle_t>& subscription_handles) const
 {
-    static_cast<void> (subscription_handles);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_handles);
-     */
+    return impl_->get_matched_subscriptions(subscription_handles);
 }
 
 ReturnCode_t DataWriter::get_matched_subscriptions(
         std::vector<InstanceHandle_t*>& subscription_handles) const
 {
-    static_cast<void> (subscription_handles);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_handles);
-     */
+    return impl_->get_matched_subscriptions(subscription_handles);
 }
 
 ReturnCode_t DataWriter::clear_history(

src/cpp/fastdds/publisher/DataWriterImpl.cpp

@@ -2228,6 +2228,69 @@ void DataWriterImpl::filter_is_being_removed(
     }
 }
 
+ReturnCode_t DataWriterImpl::get_matched_subscription_data(
+        builtin::SubscriptionBuiltinTopicData& subscription_data,
+        const fastrtps::rtps::InstanceHandle_t& subscription_handle) const
+{
+    fastrtps::types::ReturnCode_t ret = ReturnCode_t::RETCODE_BAD_PARAMETER;
+    GUID_t reader_guid = iHandle2GUID(subscription_handle);
+
+    if (writer_ && writer_->matched_reader_is_matched(reader_guid))
+    {
+        if (publisher_)
+        {
+            RTPSParticipant* rtps_participant = publisher_->rtps_participant();
+            if (rtps_participant &&
+                    rtps_participant->get_subscription_info(subscription_data, reader_guid))
+            {
+                ret = ReturnCode_t::RETCODE_OK;
+            }
+        }
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataWriterImpl::get_matched_subscriptions(
+        std::vector<InstanceHandle_t>& subscription_handles) const
+{
+    ReturnCode_t ret = ReturnCode_t::RETCODE_ERROR;
+    std::vector<GUID_t> matched_reader_guids;
+    subscription_handles.clear();
+
+    if (writer_ && writer_->matched_readers_guids(matched_reader_guids))
+    {
+        for (const GUID_t& guid : matched_reader_guids)
+        {
+            subscription_handles.emplace_back(InstanceHandle_t(guid));
+        }
+        ret = ReturnCode_t::RETCODE_OK;
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataWriterImpl::get_matched_subscriptions(
+        std::vector<InstanceHandle_t*>& subscription_handles) const
+{
+    ReturnCode_t ret = ReturnCode_t::RETCODE_ERROR;
+    std::vector<GUID_t> matched_reader_guids;
+    subscription_handles.clear();
+
+    if (writer_ && writer_->matched_readers_guids(matched_reader_guids))
+    {
+        for (const GUID_t& guid : matched_reader_guids)
+        {
+            // Note: user is responsible for deleting the InstanceHandle_t objects
+            subscription_handles.push_back(new InstanceHandle_t(guid));
+        }
+
+        ret = ReturnCode_t::RETCODE_OK;
+    }
+
+    return ret;
+}
+
 bool DataWriterImpl::is_relevant(
         const fastrtps::rtps::CacheChange_t& change,
         const fastrtps::rtps::GUID_t& reader_guid) const

src/cpp/fastdds/publisher/DataWriterImpl.hpp

@@ -389,6 +389,34 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
     void filter_is_being_removed(
             const char* filter_class_name);
 
+    /**
+     * @brief Retrieves in a subscription associated with the DataWriter
+     *
+     * @param[out] subscription_data subscription data struct
+     * @param subscription_handle InstanceHandle_t of the subscription
+     * @return RETCODE_BAD_PARAMETER if the DataWriter is not matched with
+     * the given subscription handle, RETCODE_OK otherwise.
+     *
+     */
+    ReturnCode_t get_matched_subscription_data(
+            builtin::SubscriptionBuiltinTopicData& subscription_data,
+            const InstanceHandle_t& subscription_handle) const;
+
+    /**
+     * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
+     *
+     * @param[out] subscription_handles Vector where the InstanceHandle_t are returned
+     * @return RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns RETCODE_OK.
+     *
+     */
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t>& subscription_handles) const;
+
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t*>& subscription_handles) const;
+
 protected:
 
     using IChangePool = eprosima::fastrtps::rtps::IChangePool;

src/cpp/fastdds/subscriber/DataReader.cpp

@@ -395,22 +395,13 @@ ReturnCode_t DataReader::get_matched_publication_data(
         builtin::PublicationBuiltinTopicData& publication_data,
         const fastrtps::rtps::InstanceHandle_t& publication_handle) const
 {
-    static_cast<void> (publication_data);
-    static_cast<void> (publication_handle);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_publication_data(publication_data, publication_handle);
-     */
+    return impl_->get_matched_publication_data(publication_data, publication_handle);
 }
 
 ReturnCode_t DataReader::get_matched_publications(
         std::vector<InstanceHandle_t>& publication_handles) const
 {
-    static_cast<void> (publication_handles);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_publication_data(publication_handles);
-     */
+    return impl_->get_matched_publications(publication_handles);
 }
 
 ReadCondition* DataReader::create_readcondition(

src/cpp/fastdds/subscriber/DataReaderImpl.cpp

@@ -1198,6 +1198,48 @@ ReturnCode_t DataReaderImpl::get_subscription_matched_status(
     return ReturnCode_t::RETCODE_OK;
 }
 
+ReturnCode_t DataReaderImpl::get_matched_publication_data(
+        builtin::PublicationBuiltinTopicData& publication_data,
+        const fastrtps::rtps::InstanceHandle_t& publication_handle) const
+{
+    fastrtps::types::ReturnCode_t ret = ReturnCode_t::RETCODE_BAD_PARAMETER;
+    GUID_t writer_guid = iHandle2GUID(publication_handle);
+
+    if (reader_ && reader_->matched_writer_is_matched(writer_guid))
+    {
+        if (subscriber_)
+        {
+            RTPSParticipant* rtps_participant = subscriber_->rtps_participant();
+            if (rtps_participant &&
+                    rtps_participant->get_publication_info(publication_data, writer_guid))
+            {
+                ret = ReturnCode_t::RETCODE_OK;
+            }
+        }
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataReaderImpl::get_matched_publications(
+        std::vector<InstanceHandle_t>& publication_handles) const
+{
+    ReturnCode_t ret = ReturnCode_t::RETCODE_ERROR;
+    std::vector<GUID_t> matched_writers_guids;
+    publication_handles.clear();
+
+    if (reader_ && reader_->matched_writers_guids(matched_writers_guids))
+    {
+        for (const GUID_t& guid : matched_writers_guids)
+        {
+            publication_handles.emplace_back(InstanceHandle_t(guid));
+        }
+        ret = ReturnCode_t::RETCODE_OK;
+    }
+
+    return ret;
+}
+
 bool DataReaderImpl::deadline_timer_reschedule()
 {
     assert(qos_.deadline().period != c_TimeInfinite);