Stubs for rmw_get_publishers_info_by_topic and rmw_get_subscriptions_info_by_topic

rmw_connext_cpp/CMakeLists.txt

@@ -180,7 +180,8 @@ add_library(
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
-  src/serialization_format.cpp)
+  src/serialization_format.cpp
+  src/rmw_get_topic_endpoint_info.cpp)
 ament_target_dependencies(rmw_connext_cpp
   "rcutils"
   "rmw"

rmw_connext_cpp/src/rmw_get_topic_endpoint_info.cpp

@@ -0,0 +1,55 @@
+// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/topic_endpoint_info_array.h"
+#include "rmw_connext_shared_cpp/topic_endpoint_info.hpp"
+#include "rmw_connext_cpp/identifier.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_publishers_info_by_topic(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * publishers_info)
+{
+  return get_publishers_info_by_topic(
+    rti_connext_identifier,
+    node,
+    allocator,
+    topic_name,
+    no_mangle,
+    publishers_info);
+}
+
+rmw_ret_t
+rmw_get_subscriptions_info_by_topic(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * subscriptions_info)
+{
+  return get_subscriptions_info_by_topic(
+    rti_connext_identifier,
+    node,
+    allocator,
+    topic_name,
+    no_mangle,
+    subscriptions_info);
+}
+}  // extern "C"

rmw_connext_dynamic_cpp/src/functions.cpp

@@ -51,9 +51,11 @@
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/get_service_names_and_types.h"
+#include "rmw/get_topic_endpoint_info.h"
 #include "rmw/get_topic_names_and_types.h"
 #include "rmw/init.h"
 #include "rmw/rmw.h"
+#include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
 
 #include "rosidl_generator_c/primitives_sequence_functions.h"
@@ -75,6 +77,7 @@
 #include "rosidl_typesupport_introspection_c/visibility_control.h"
 
 #include "rmw_connext_shared_cpp/shared_functions.hpp"
+#include "rmw_connext_shared_cpp/topic_endpoint_info.hpp"
 #include "rmw_connext_shared_cpp/types.hpp"
 
 #include "./macros.hpp"
@@ -2704,6 +2707,28 @@ rmw_count_subscribers(
   return count_subscribers(rti_connext_dynamic_identifier, node, topic_name, count);
 }
 
+rmw_ret_t
+rmw_get_publishers_info_by_topic(
+    const rmw_node_t * node,
+    rcutils_allocator_t * allocator,
+    const char * topic_name,
+    bool no_mangle,
+    rmw_topic_endpoint_info_array_t * publishers_info)
+{
+  return get_publishers_info_by_topic(rti_connext_dynamic_identifier, node, allocator, topic_name, no_mangle, publishers_info);
+}
+
+rmw_ret_t
+rmw_get_subscriptions_info_by_topic(
+    const rmw_node_t * node,
+    rcutils_allocator_t * allocator,
+    const char * topic_name,
+    bool no_mangle,
+    rmw_topic_endpoint_info_array_t * subscriptions_info)
+{
+  return get_subscriptions_info_by_topic(rti_connext_dynamic_identifier, node, allocator, topic_name, no_mangle, subscriptions_info);
+}
+
 rmw_ret_t
 rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
 {

rmw_connext_shared_cpp/CMakeLists.txt

@@ -56,7 +56,8 @@ add_library(
   src/wait_set.cpp
   src/types/custom_data_reader_listener.cpp
   src/types/custom_publisher_listener.cpp
-  src/types/custom_subscriber_listener.cpp)
+  src/types/custom_subscriber_listener.cpp
+  src/topic_endpoint_info.cpp)
 ament_target_dependencies(rmw_connext_shared_cpp
   "rcpputils"
   "rcutils"

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/shared_functions.hpp

@@ -32,5 +32,6 @@
 #include "types.hpp"
 #include "wait.hpp"
 #include "wait_set.hpp"
+#include "topic_endpoint_info.hpp"
 
 #endif  // RMW_CONNEXT_SHARED_CPP__SHARED_FUNCTIONS_HPP_

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/topic_cache.hpp

@@ -73,8 +73,8 @@ class TopicCache
   /**
    * Helper function to initialize the set inside a participant map.
    *
-   * @param map
-   * @param participant_guid
+   * \param map
+   * \param participant_guid
    */
   void initialize_participant_map(
     ParticipantToTopicGuidMap & map,
@@ -87,15 +87,15 @@ class TopicCache
 
 public:
   /**
-   * @return a map of topic name to the vector of topic types used.
+   * \return a map of topic name to the vector of topic types used.
    */
   const TopicGuidToInfo & get_topic_guid_to_info() const
   {
     return topic_guid_to_info_;
   }
 
   /**
-   * @return a map of participant guid to the vector of topic names used.
+   * \return a map of participant guid to the vector of topic names used.
    */
   const ParticipantToTopicGuidMap & get_participant_to_topic_guid_map() const
   {
@@ -105,10 +105,10 @@ class TopicCache
   /**
    * Add a topic based on discovery.
    *
-   * @param participant_guid
-   * @param topic_name
-   * @param type_name
-   * @return true if a change has been recorded
+   * \param participant_guid
+   * \param topic_name
+   * \param type_name
+   * \return true if a change has been recorded
    */
   bool add_topic(
     const GUID_t & participant_guid,
@@ -127,8 +127,8 @@ class TopicCache
         "Adding topic '%s' with type '%s' for node '%s'",
         topic_name.c_str(), type_name.c_str(), guid_stream.str().c_str());
     }
-    auto topic_info_it = topic_guid_to_info_.find(topic_guid);
-    if (topic_info_it != topic_guid_to_info_.end()) {
+    auto topic_endpoint_info_it = topic_guid_to_info_.find(topic_guid);
+    if (topic_endpoint_info_it != topic_guid_to_info_.end()) {
       RCUTILS_LOG_WARN_NAMED(
         "rmw_connext_shared_cpp",
         "unique topic attempted to be added twice, ignoring");
@@ -143,23 +143,23 @@ class TopicCache
   /**
    * Remove a topic based on discovery.
    *
-   * @param guid
-   * @return true if a change has been recorded
+   * \param guid
+   * \return true if a change has been recorded
    */
   bool remove_topic(const GUID_t & topic_guid)
   {
-    auto topic_info_it = topic_guid_to_info_.find(topic_guid);
-    if (topic_info_it == topic_guid_to_info_.end()) {
+    auto topic_endpoint_info_it = topic_guid_to_info_.find(topic_guid);
+    if (topic_endpoint_info_it == topic_guid_to_info_.end()) {
       RCUTILS_LOG_WARN_NAMED(
         "rmw_connext_shared_cpp",
         "unexpected topic removal.");
       return false;
     }
 
-    std::string topic_name = topic_info_it->second.name;
-    std::string type_name = topic_info_it->second.type;
+    std::string topic_name = topic_endpoint_info_it->second.name;
+    std::string type_name = topic_endpoint_info_it->second.type;
 
-    auto participant_guid = topic_info_it->second.participant_guid;
+    auto participant_guid = topic_endpoint_info_it->second.participant_guid;
     auto participant_to_topic_guid = participant_to_topic_guids_.find(participant_guid);
     if (participant_to_topic_guid == participant_to_topic_guids_.end()) {
       RCUTILS_LOG_WARN_NAMED(
@@ -179,7 +179,7 @@ class TopicCache
       return false;
     }
 
-    topic_guid_to_info_.erase(topic_info_it);
+    topic_guid_to_info_.erase(topic_endpoint_info_it);
     participant_to_topic_guid->second.erase(topic_guid_to_remove);
     if (participant_to_topic_guids_.empty()) {
       participant_to_topic_guids_.erase(participant_to_topic_guid);
@@ -190,8 +190,8 @@ class TopicCache
   /**
    * Get topic types by guid.
    *
-   * @param participant_guid to find topic types
-   * @return topic types corresponding to that guid
+   * \param participant_guid to find topic types
+   * \return topic types corresponding to that guid
    */
   TopicsTypes get_topic_types_by_guid(const GUID_t & participant_guid)
   {
@@ -203,16 +203,16 @@ class TopicCache
     }
 
     for (auto & topic_guid : participant_to_topic_guids->second) {
-      auto topic_info = topic_guid_to_info_.find(topic_guid);
-      if (topic_info == topic_guid_to_info_.end()) {
+      auto topic_endpoint_info = topic_guid_to_info_.find(topic_guid);
+      if (topic_endpoint_info == topic_guid_to_info_.end()) {
         continue;
       }
-      auto topic_name = topic_info->second.name;
+      auto topic_name = topic_endpoint_info->second.name;
       auto topic_entry = topics_types.find(topic_name);
       if (topic_entry == topics_types.end()) {
         topics_types[topic_name] = std::set<std::string>();
       }
-      topics_types[topic_name].insert(topic_info->second.type);
+      topics_types[topic_name].insert(topic_endpoint_info->second.type);
     }
     return topics_types;
   }

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/topic_endpoint_info.hpp

@@ -0,0 +1,41 @@
+// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_CONNEXT_SHARED_CPP__TOPIC_ENDPOINT_INFO_HPP_
+#define RMW_CONNEXT_SHARED_CPP__TOPIC_ENDPOINT_INFO_HPP_
+
+#include "rmw/topic_endpoint_info_array.h"
+#include "rmw_connext_shared_cpp/visibility_control.h"
+
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+get_publishers_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * publishers_info);
+
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+get_subscriptions_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * subscriptions_info);
+
+#endif  // RMW_CONNEXT_SHARED_CPP__TOPIC_ENDPOINT_INFO_HPP_

rmw_connext_shared_cpp/src/node_info_and_types.cpp

@@ -45,10 +45,10 @@
  * Check to see if a node name and namespace match the user data QoS policy
  * of a node.
  *
- * @param user_data_qos to inspect
- * @param node_name to match
- * @param node_namespace to match
- * @return true if match
+ * \param user_data_qos to inspect
+ * \param node_name to match
+ * \param node_namespace to match
+ * \return true if match
  */
 bool
 __is_node_match(
@@ -76,12 +76,12 @@ __is_node_match(
  * Get a DDS GUID key for the discovered participant which matches the
  * node_name and node_namepace supplied.
  *
- * @param node_info to discover nodes
- * @param node_name to match
- * @param node_namespace to match
- * @param key [out] guid key that matches the node name and namespace
+ * \param node_info to discover nodes
+ * \param node_name to match
+ * \param node_namespace to match
+ * \param key [out] guid key that matches the node name and namespace
  *
- * @return RMW_RET_OK if success, ERROR otherwise
+ * \return RMW_RET_OK if success, ERROR otherwise
  */
 rmw_ret_t
 __get_key(

rmw_connext_shared_cpp/src/topic_endpoint_info.cpp

@@ -0,0 +1,43 @@
+// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <map>
+
+#include "rmw_connext_shared_cpp/topic_endpoint_info.hpp"
+
+#include "rmw/error_handling.h"
+
+rmw_ret_t
+get_publishers_info_by_topic(
+  const char * /* unused_param */,
+  const rmw_node_t * /* unused_param */,
+  rcutils_allocator_t * /* unused_param */,
+  const char * /* unused_param */,
+  bool /* unused_param */,
+  rmw_topic_endpoint_info_array_t * /* unused_param */)
+{
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+get_subscriptions_info_by_topic(
+  const char * /* unused_param */,
+  const rmw_node_t * /* unused_param */,
+  rcutils_allocator_t * /* unused_param */,
+  const char * /* unused_param */,
+  bool /* unused_param */,
+  rmw_topic_endpoint_info_array_t * /* unused_param */)
+{
+  return RMW_RET_UNSUPPORTED;
+}