[21808] DataWriter/Reader get_matched_publication/subscription() Tests & Feature 3.x

include/fastdds/rtps/participant/RTPSParticipant.hpp

@@ -291,6 +291,30 @@ class FASTDDS_EXPORTED_API RTPSParticipant
      */
     std::vector<TransportNetmaskFilterInfo> get_netmask_filter_info() const;
 
+    /**
+     * @brief Fills the provided publication discovery data with the information of the
+     * writer identified by writer_guid.
+     *
+     * @param[out] data publication discovery 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.
+     */
+    bool get_publication_info(
+            fastdds::rtps::PublicationBuiltinTopicData& data,
+            const GUID_t& writer_guid) const;
+
+    /**
+     * @brief Fills the provided subscription discovery data with the information of the
+     * reader identified by reader_guid.
+     *
+     * @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.
+     */
+    bool get_subscription_info(
+            fastdds::rtps::SubscriptionBuiltinTopicData& data,
+            const GUID_t& reader_guid) const;
+
 #if HAVE_SECURITY
 
     /**

include/fastdds/rtps/reader/RTPSReader.hpp

@@ -141,6 +141,15 @@ class RTPSReader : public Endpoint
     FASTDDS_EXPORTED_API virtual void set_content_filter(
             eprosima::fastdds::rtps::IReaderDataFilter* filter) = 0;
 
+    /**
+     * @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.
+     */
+    FASTDDS_EXPORTED_API virtual bool matched_writers_guids(
+            std::vector<GUID_t>& guids) const = 0;
+
     /**
      * @brief Read the next unread CacheChange_t from the history.
      *

include/fastdds/rtps/writer/RTPSWriter.hpp

@@ -183,6 +183,15 @@ class RTPSWriter : public Endpoint
      */
     FASTDDS_EXPORTED_API virtual bool get_disable_positive_acks() const = 0;
 
+    /**
+     * @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.
+     */
+    FASTDDS_EXPORTED_API virtual bool matched_readers_guids(
+            std::vector<GUID_t>& guids) const = 0;
+
 #ifdef FASTDDS_STATISTICS
 
     /**

src/cpp/fastdds/publisher/DataWriter.cpp

@@ -270,22 +270,13 @@ ReturnCode_t DataWriter::get_matched_subscription_data(
         SubscriptionBuiltinTopicData& subscription_data,
         const InstanceHandle_t& subscription_handle) const
 {
-    static_cast<void> (subscription_data);
-    static_cast<void> (subscription_handle);
-    return 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 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

@@ -2335,6 +2335,48 @@ void DataWriterImpl::filter_is_being_removed(
     }
 }
 
+ReturnCode_t DataWriterImpl::get_matched_subscription_data(
+        SubscriptionBuiltinTopicData& subscription_data,
+        const InstanceHandle_t& subscription_handle) const
+{
+    ReturnCode_t ret = RETCODE_BAD_PARAMETER;
+    fastdds::rtps::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 = RETCODE_OK;
+            }
+        }
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataWriterImpl::get_matched_subscriptions(
+        std::vector<InstanceHandle_t>& subscription_handles) const
+{
+    ReturnCode_t ret = RETCODE_ERROR;
+    std::vector<rtps::GUID_t> matched_reader_guids;
+    subscription_handles.clear();
+
+    if (writer_ && writer_->matched_readers_guids(matched_reader_guids))
+    {
+        for (const rtps::GUID_t& guid : matched_reader_guids)
+        {
+            subscription_handles.emplace_back(InstanceHandle_t(guid));
+        }
+        ret = RETCODE_OK;
+    }
+
+    return ret;
+}
+
 bool DataWriterImpl::is_relevant(
         const fastdds::rtps::CacheChange_t& change,
         const fastdds::rtps::GUID_t& reader_guid) const

src/cpp/fastdds/publisher/DataWriterImpl.hpp

@@ -381,6 +381,31 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
     void filter_is_being_removed(
             const char* filter_class_name);
 
+    /**
+     * @brief Retrieves in a subscription associated with the @ref DataWriter
+     *
+     * @param[out] subscription_data subscription data struct
+     * @param subscription_handle @ref InstanceHandle_t of the subscription
+     * @return @ref RETCODE_BAD_PARAMETER if the DataWriter is not matched with
+     * the given subscription handle, @ref RETCODE_OK otherwise.
+     *
+     */
+    ReturnCode_t get_matched_subscription_data(
+            SubscriptionBuiltinTopicData& subscription_data,
+            const InstanceHandle_t& subscription_handle) const;
+
+    /**
+     * @brief Fills the given vector with the @ref InstanceHandle_t of matched DataReaders
+     *
+     * @param[out] subscription_handles Vector where the @ref InstanceHandle_t are returned
+     * @return @ref RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns @ref RETCODE_OK.
+     *
+     */
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t>& subscription_handles) const;
+
     /**
      * Retrieve the publication data discovery information.
      *

src/cpp/fastdds/subscriber/DataReader.cpp

@@ -394,22 +394,13 @@ ReturnCode_t DataReader::get_matched_publication_data(
         PublicationBuiltinTopicData& publication_data,
         const fastdds::rtps::InstanceHandle_t& publication_handle) const
 {
-    static_cast<void> (publication_data);
-    static_cast<void> (publication_handle);
-    return 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 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

@@ -1211,6 +1211,48 @@ ReturnCode_t DataReaderImpl::get_subscription_matched_status(
     return RETCODE_OK;
 }
 
+ReturnCode_t DataReaderImpl::get_matched_publication_data(
+        PublicationBuiltinTopicData& publication_data,
+        const InstanceHandle_t& publication_handle) const
+{
+    ReturnCode_t ret = RETCODE_BAD_PARAMETER;
+    fastdds::rtps::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 = RETCODE_OK;
+            }
+        }
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataReaderImpl::get_matched_publications(
+        std::vector<InstanceHandle_t>& publication_handles) const
+{
+    ReturnCode_t ret = RETCODE_ERROR;
+    std::vector<rtps::GUID_t> matched_writers_guids;
+    publication_handles.clear();
+
+    if (reader_ && reader_->matched_writers_guids(matched_writers_guids))
+    {
+        for (const rtps::GUID_t& guid : matched_writers_guids)
+        {
+            publication_handles.emplace_back(InstanceHandle_t(guid));
+        }
+        ret = RETCODE_OK;
+    }
+
+    return ret;
+}
+
 bool DataReaderImpl::deadline_timer_reschedule()
 {
     assert(qos_.deadline().period != dds::c_TimeInfinite);

src/cpp/fastdds/subscriber/DataReaderImpl.hpp

@@ -234,6 +234,31 @@ class DataReaderImpl
     ReturnCode_t get_subscription_matched_status(
             SubscriptionMatchedStatus& status);
 
+    /**
+     * @brief Retrieves in a publication associated with the DataWriter
+     *
+     * @param[out] publication_data publication data struct
+     * @param publication_handle @ref InstanceHandle_t of the publication
+     * @return @ref RETCODE_BAD_PARAMETER if the DataReader is not matched with
+     * the given publication handle, @ref RETCODE_OK otherwise.
+     *
+     */
+    ReturnCode_t get_matched_publication_data(
+            rtps::PublicationBuiltinTopicData& publication_data,
+            const InstanceHandle_t& publication_handle) const;
+
+    /**
+     * @brief Fills the given vector with the @ref InstanceHandle_t of matched DataReaders
+     *
+     * @param[out] publication_handles Vector where the @ref InstanceHandle_t are returned
+     * @return @ref RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns @ref RETCODE_OK.
+     *
+     */
+    ReturnCode_t get_matched_publications(
+            std::vector<InstanceHandle_t>& publication_handles) const;
+
     ReturnCode_t get_requested_deadline_missed_status(
             RequestedDeadlineMissedStatus& status);
 

src/cpp/rtps/participant/RTPSParticipant.cpp

@@ -194,6 +194,20 @@ std::vector<TransportNetmaskFilterInfo> RTPSParticipant::get_netmask_filter_info
     return mp_impl->get_netmask_filter_info();
 }
 
+bool RTPSParticipant::get_publication_info(
+        PublicationBuiltinTopicData& data,
+        const GUID_t& writer_guid) const
+{
+    return mp_impl->get_publication_info(data, writer_guid);
+}
+
+bool RTPSParticipant::get_subscription_info(
+        SubscriptionBuiltinTopicData& data,
+        const GUID_t& reader_guid) const
+{
+    return mp_impl->get_subscription_info(data, reader_guid);
+}
+
 #if HAVE_SECURITY
 
 bool RTPSParticipant::is_security_enabled_for_writer(

src/cpp/rtps/participant/RTPSParticipantImpl.cpp

@@ -2791,6 +2791,40 @@ std::vector<TransportNetmaskFilterInfo> RTPSParticipantImpl::get_netmask_filter_
     return m_network_Factory.netmask_filter_info();
 }
 
+bool RTPSParticipantImpl::get_publication_info(
+        PublicationBuiltinTopicData& data,
+        const GUID_t& writer_guid) const
+{
+    bool ret = false;
+    WriterProxyData wproxy_data(m_att.allocation.locators.max_unicast_locators,
+            m_att.allocation.locators.max_multicast_locators);
+
+    if (mp_builtinProtocols->mp_PDP->lookupWriterProxyData(writer_guid, wproxy_data))
+    {
+        from_proxy_to_builtin(wproxy_data, data);
+        ret = true;
+    }
+
+    return ret;
+}
+
+bool RTPSParticipantImpl::get_subscription_info(
+        SubscriptionBuiltinTopicData& data,
+        const GUID_t& reader_guid) const
+{
+    bool ret = false;
+    ReaderProxyData rproxy_data(m_att.allocation.locators.max_unicast_locators,
+            m_att.allocation.locators.max_multicast_locators);
+
+    if (mp_builtinProtocols->mp_PDP->lookupReaderProxyData(reader_guid, rproxy_data))
+    {
+        from_proxy_to_builtin(rproxy_data, data);
+        ret = true;
+    }
+
+    return ret;
+}
+
 #ifdef FASTDDS_STATISTICS
 
 bool RTPSParticipantImpl::register_in_writer(

src/cpp/rtps/participant/RTPSParticipantImpl.h

@@ -1120,6 +1120,30 @@ class RTPSParticipantImpl
      */
     std::vector<TransportNetmaskFilterInfo> get_netmask_filter_info() const;
 
+    /**
+     * @brief Fills the provided @ref PublicationBuiltinTopicData with the information of the
+     * writer identified by writer_guid.
+     *
+     * @param[out] data @ref PublicationBuiltinTopicData 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.
+     */
+    bool get_publication_info(
+            PublicationBuiltinTopicData& data,
+            const GUID_t& writer_guid) const;
+
+    /**
+     * @brief Fills the provided @ref SubscriptionBuiltinTopicData with the information of the
+     * reader identified by reader_guid.
+     *
+     * @param[out] data @ref SubscriptionBuiltinTopicData 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.
+     */
+    bool get_subscription_info(
+            SubscriptionBuiltinTopicData& data,
+            const GUID_t& reader_guid) const;
+
     template <EndpointKind_t kind, octet no_key, octet with_key>
     static bool preprocess_endpoint_attributes(
             const EntityId_t& entity_id,

src/cpp/rtps/reader/StatefulReader.cpp

@@ -1492,6 +1492,19 @@ void StatefulReader::end_sample_access_nts(
     }
 }
 
+bool StatefulReader::matched_writers_guids(
+        std::vector<GUID_t>& guids) const
+{
+    std::lock_guard<RecursiveTimedMutex> guard(mp_mutex);
+    guids.clear();
+    guids.reserve(matched_writers_.size());
+    for (WriterProxy* writer : matched_writers_)
+    {
+        guids.emplace_back(writer->guid());
+    }
+    return true;
+}
+
 #ifdef FASTDDS_STATISTICS
 
 bool StatefulReader::get_connections(