Add node graph api to rcl

rcl/include/rcl/graph.h

@@ -36,6 +36,169 @@ typedef rmw_names_and_types_t rcl_names_and_types_t;
 
 #define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types
 
+/// Return a list of publisher topic names and their types per node.
+/**
+ * This function returns a list of topic names in the ROS graph for param node_name and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rcl_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * There may be some demangling that occurs when listing the topics from the
+ * middleware implementation.
+ * If the no_demangle argument is true, then this will be avoided and the
+ * topics will be returned as they appear to the middleware.
+ *
+ * \see rmw_get_topic_names_and_types for more details on no_demangle
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create publishers or subscribers using names returned by this function may not
+ * result in the desired topic name being used depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] no_demangle if true, list all topics without any demangling
+ * \param[in] node_name of the node to look up topics
+ * \param[in] node_namespace of the node to look up topics
+ * \param[out] topic_names_and_types list of topic names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_get_publisher_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  bool no_demangle,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * topic_names_and_types);
+
+/// Return a list of subcriber topic names and their types per node.
+/**
+ * This function returns a list of topic names in the ROS graph for param node_name and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rcl_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * There may be some demangling that occurs when listing the topics from the
+ * middleware implementation.
+ * If the no_demangle argument is true, then this will be avoided and the
+ * topics will be returned as they appear to the middleware.
+ *
+ * \see rmw_get_topic_names_and_types for more details on no_demangle
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create publishers or subscribers using names returned by this function may not
+ * result in the desired topic name being used depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] no_demangle if true, list all topics without any demangling
+ * \param[in] node_name of the node to look up topics
+ * \param[in] node_namespace of the node to look up topics
+ * \param[out] topic_names_and_types list of topic names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_get_subscriber_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  bool no_demangle,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * topic_names_and_types);
+
+/// Return a list of service names and their types per node.
+/**
+ * This function returns a list of service names in the ROS graph for param node_name and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rcl_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * There may be some demangling that occurs when listing the topics from the
+ * middleware implementation.
+ * If the no_demangle argument is true, then this will be avoided and the
+ * topics will be returned as they appear to the middleware.
+ *
+ * \see rmw_get_topic_names_and_types for more details on no_demangle
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create publishers or subscribers using names returned by this function may not
+ * result in the desired topic name being used depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name of the node to look up topics
+ * \param[in] node_namespace of the node to look up topics
+ * \param[out] service_names_and_types list of service names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_get_service_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * service_names_and_types);
+
 /// Return a list of topic names and their types.
 /**
  * This function returns a list of topic names in the ROS graph and their types.

rcl/src/rcl/graph.c

@@ -22,13 +22,126 @@ extern "C"
 #include "rcl/error_handling.h"
 #include "rcutils/allocator.h"
 #include "rcutils/types.h"
+#include "rmw/get_node_info_and_types.h"
 #include "rmw/get_service_names_and_types.h"
 #include "rmw/get_topic_names_and_types.h"
 #include "rmw/names_and_types.h"
 #include "rmw/rmw.h"
 
 #include "./common.h"
 
+rcl_ret_t
+rcl_get_publisher_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  bool no_demangle,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * topic_names_and_types)
+{
+  if (!rcl_node_is_valid(node)) {
+    return RCL_RET_NODE_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
+
+  const char * valid_namespace = "/";
+  if (strlen(node_namespace) > 0) {
+    valid_namespace = node_namespace;
+  }
+  rmw_ret_t rmw_ret;
+  rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
+  if (rmw_ret != RMW_RET_OK) {
+    return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+  }
+  rcutils_allocator_t rcutils_allocator = *allocator;
+  rmw_ret = rmw_get_publisher_names_and_types_by_node(
+    rcl_node_get_rmw_handle(node),
+    &rcutils_allocator,
+    node_name,
+    valid_namespace,
+    no_demangle,
+    topic_names_and_types
+  );
+  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+}
+
+rcl_ret_t
+rcl_get_subscriber_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  bool no_demangle,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * topic_names_and_types)
+{
+  if (!rcl_node_is_valid(node)) {
+    return RCL_RET_NODE_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
+
+  const char * valid_namespace = "/";
+  if (strlen(node_namespace) > 0) {
+    valid_namespace = node_namespace;
+  }
+  rmw_ret_t rmw_ret;
+  rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
+  if (rmw_ret != RMW_RET_OK) {
+    return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+  }
+  rcutils_allocator_t rcutils_allocator = *allocator;
+  rmw_ret = rmw_get_subscriber_names_and_types_by_node(
+    rcl_node_get_rmw_handle(node),
+    &rcutils_allocator,
+    node_name,
+    valid_namespace,
+    no_demangle,
+    topic_names_and_types
+  );
+  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+}
+
+rcl_ret_t
+rcl_get_service_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * service_names_and_types)
+{
+  if (!rcl_node_is_valid(node)) {
+    return RCL_RET_NODE_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
+
+  const char * valid_namespace = "/";
+  if (strlen(node_namespace) > 0) {
+    valid_namespace = node_namespace;
+  }
+  rmw_ret_t rmw_ret;
+  rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
+  if (rmw_ret != RMW_RET_OK) {
+    return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+  }
+  rcutils_allocator_t rcutils_allocator = *allocator;
+  rmw_ret = rmw_get_service_names_and_types_by_node(
+    rcl_node_get_rmw_handle(node),
+    &rcutils_allocator,
+    node_name,
+    valid_namespace,
+    service_names_and_types
+  );
+  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+}
+
 rcl_ret_t
 rcl_get_topic_names_and_types(
   const rcl_node_t * node,

rcl/test/CMakeLists.txt

@@ -85,13 +85,15 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  set(SKIP_TEST "")
+  set(AMENT_GTEST_ARGS "")
   # TODO(wjwwood): remove this when the graph API works properly for connext dynamic
-  if(
-    rmw_implementation STREQUAL "rmw_connext_dynamic_cpp"
-  )
+  if(rmw_implementation STREQUAL "rmw_connext_dynamic_cpp")
     message(STATUS "Skipping test_graph${target_suffix} test.")
-    set(SKIP_TEST "SKIP_TEST")
+    set(AMENT_GTEST_ARGS "SKIP_TEST")
+  # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
+  elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
+    message(STATUS "Increasing test_graph${target_suffix} test timeout.")
+    set(AMENT_GTEST_ARGS TIMEOUT 90)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
@@ -100,7 +102,7 @@ function(test_target_function)
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
-    ${SKIP_TEST}
+    ${AMENT_GTEST_ARGS}
   )
 
   rcl_add_custom_gtest(test_count_matched${target_suffix}

rcl/test/cmake/rcl_add_custom_gtest.cmake

@@ -49,7 +49,7 @@ set(rcl_add_custom_gtest_INCLUDED TRUE)
 macro(rcl_add_custom_gtest target)
   cmake_parse_arguments(_ARG
     "SKIP_TEST;TRACE"
-    ""
+    "TIMEOUT"
     "SRCS;ENV;APPEND_ENV;APPEND_LIBRARY_DIRS;INCLUDE_DIRS;LIBRARIES;AMENT_DEPENDENCIES"
     ${ARGN})
   if(_ARG_UNPARSED_ARGUMENTS)
@@ -69,9 +69,13 @@ macro(rcl_add_custom_gtest target)
   else()
     set(_ARG_SKIP_TEST "")
   endif()
+  if(_ARG_TIMEOUT)
+    set(_ARG_TIMEOUT "TIMEOUT" ${_ARG_TIMEOUT})
+  endif()
 
   # Pass args along to ament_add_gtest().
-  ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS} ${_ARG_SKIP_TEST})
+  ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS}
+                  ${_ARG_SKIP_TEST} ${_ARG_TIMEOUT})
   # Check if the target was actually created.
   if(TARGET ${target})
     if(_ARG_TRACE)