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Add rcl_topic_endpoint_info_t and related types and functions #558

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Feb 14, 2020
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Add rcl_topic_endpoint_info_t and related types and functions #558

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13 changes: 9 additions & 4 deletions rcl/include/rcl/graph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,13 @@ extern "C"
#include "rcl/visibility_control.h"

typedef rmw_names_and_types_t rcl_names_and_types_t;
typedef rmw_topic_endpoint_info_t rcl_topic_endpoint_info_t;
typedef rmw_topic_endpoint_info_array_t rcl_topic_endpoint_info_array_t;

#define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types
#define rcl_get_zero_initialized_topic_endpoint_info_array \
rmw_get_zero_initialized_topic_endpoint_info_array
#define rcl_topic_endpoint_info_array_fini rmw_topic_endpoint_info_array_fini

/// Return a list of topic names and types for publishers associated with a node.
/**
Expand Down Expand Up @@ -540,7 +545,7 @@ rcl_count_subscribers(
* Each element in the `publishers_info` array will contain the node name, node namespace,
* topic type, gid and the qos profile of the publisher.
* It is the responsibility of the caller to ensure that `publishers_info` parameter points
* to a valid struct of type rmw_topic_endpoint_info_array_t.
* to a valid struct of type rcl_topic_endpoint_info_array_t.
* The `count` field inside the struct must be set to 0 and the `info_array` field inside
* the struct must be set to null.
* \see rmw_get_zero_initialized_topic_endpoint_info_array
Expand Down Expand Up @@ -584,7 +589,7 @@ rcl_get_publishers_info_by_topic(
rcutils_allocator_t * allocator,
const char * topic_name,
bool no_mangle,
rmw_topic_endpoint_info_array_t * publishers_info);
rcl_topic_endpoint_info_array_t * publishers_info);

/// Return a list of all subscriptions to a topic.
/**
Expand All @@ -601,7 +606,7 @@ rcl_get_publishers_info_by_topic(
* Each element in the `subscriptions_info` array will contain the node name, node namespace,
* topic type, gid and the qos profile of the subscription.
* It is the responsibility of the caller to ensure that `subscriptions_info` parameter points
* to a valid struct of type rmw_topic_endpoint_info_array_t.
* to a valid struct of type rcl_topic_endpoint_info_array_t.
* The `count` field inside the struct must be set to 0 and the `info_array` field inside
* the struct must be set to null.
* \see rmw_get_zero_initialized_topic_endpoint_info_array
Expand Down Expand Up @@ -645,7 +650,7 @@ rcl_get_subscriptions_info_by_topic(
rcutils_allocator_t * allocator,
const char * topic_name,
bool no_mangle,
rmw_topic_endpoint_info_array_t * subscriptions_info);
rcl_topic_endpoint_info_array_t * subscriptions_info);

/// Check if a service server is available for the given service client.
/**
Expand Down