Update with comments and fix some changes of rmw

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

rclcpp/include/rclcpp/node.hpp

@@ -1072,52 +1072,50 @@ class Node : public std::enable_shared_from_this<Node>
   bool
   assert_liveliness() const;
 
-  /// Return a list of publishers about topic information to a given topic.
+  /// Return a list of publishers about topic endpoint information to a given topic.
   /**
-   * The returned parameter is a list of topic info, where each topic info will
-   * contain the node name, node namespace, topic type, participant's GID and its QoS profile.
+   * The returned parameter is a list of topic endpoint information, where each item will contain
+   * the node name, node namespace, topic type, endpoint type, participant's GID and its QoS
+   * profile.
    *
    * "topic_name" may be a relative, private or fully qualified topic name.
    * A relative or private topic will be expanded using this node's namespace and name, if
    * the "no_mangle" param is set to false.
    *
    * The queried topic name is not remapped.
    *
-   * "no_mangle" defaults to false.
-   *
    * \param[in] topic_name the topic_name on which to find the publishers.
    * \param[in] no_mangle if false, the given topic name will be expanded
-   *    to its fully qualified name.
+   *    to its fully qualified name. Default to `false`.
    * \return a list of TopicInfo representing all the publishers on this topic.
    * \throws InvalidTopicNameError if the given topic_name is invalid.
    * \throws std::runtime_error if internal error happens.
    */
   RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
-  /// Return a list of subscriptions about topic information to a given topic.
+  /// Return a list of subscriptions about topic endpoint information to a given topic.
   /**
-   * The returned parameter is a list of topic info, where each topic info will
-   * contain the node name, node namespace, topic type, participant's GID and its QoS profile.
+   * The returned parameter is a list of topic endpoint information, where each item will contain
+   * the node name, node namespace, topic type, endpoint type, participant's GID and its QoS
+   * profile.
    *
    * "topic_name" may be a relative, private or fully qualified topic name.
    * A relative or private topic will be expanded using this node's namespace and name, if
    * the "no_mangle" param is set to false.
    *
    * The queried topic name is not remapped.
    *
-   * "no_mangle" defaults to false.
-   *
    * \param[in] topic_name the topic_name on which to find the subscriptions.
    * \param[in] no_mangle if false, the given topic name will be expanded
-   *    to its fully qualified name.
+   *    to its fully qualified name. Default to `false`.
    * \return a list of TopicInfo representing all the subscriptions on this topic.
    * \throws InvalidTopicNameError if the given topic_name is invalid.
    * \throws std::runtime_error if internal error happens.
    */
   RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
 protected:

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -30,7 +30,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rmw/topic_info_array.h"
+#include "rmw/topic_endpoint_info_array.h"
 
 namespace rclcpp
 {
@@ -119,34 +119,20 @@ class NodeGraph : public NodeGraphInterface
   count_graph_users() override;
 
   RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_publishers_info_by_topic(
     const std::string & topic_name,
     bool no_mangle = false) const override;
 
   RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(
     const std::string & topic_name,
     bool no_mangle = false) const override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeGraph)
 
-  typedef rcl_ret_t (* rcl_get_info_by_topic_func_t)(
-    const rcl_node_t * node,
-    rcutils_allocator_t * allocator,
-    const char * topic_name,
-    bool no_mangle,
-    rmw_topic_info_array_t * info_array);
-
-  std::vector<rclcpp::TopicInfo>
-  get_info_by_topic(
-    const std::string & topic_name,
-    bool no_mangle,
-    const std::string & type,
-    rcl_get_info_by_topic_func_t rcl_get_info_by_topic) const;
-
   /// Handle to the NodeBaseInterface given in the constructor.
   rclcpp::node_interfaces::NodeBaseInterface * node_base_;
 

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
 
+#include <array>
 #include <chrono>
 #include <map>
 #include <string>
@@ -25,22 +26,38 @@
 
 #include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/topic_endpoint_info.h"
 
 namespace rclcpp
 {
 
+using EndpointType = rmw_endpoint_type_t;
+
 /**
- * Use to get topic information that containing the node name, node namespace, topic type,
- * participant's GID and its QoS profile
+ * Use to get topic endpoint information that containing the node name, node namespace, topic type,
+ * endpoint type, GID of endpoint and its QoS.
  */
-struct RCLCPP_PUBLIC TopicInfo
+struct RCLCPP_PUBLIC TopicEndpointInfo
 {
   std::string node_name;
   std::string node_namespace;
   std::string topic_type;
-  uint8_t gid[RMW_GID_STORAGE_SIZE];
-  rmw_qos_profile_t qos_profile;
+  rclcpp::EndpointType endpoint_type;
+  std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid;
+  rclcpp::QoS qos;
+
+  /// Constructor which convert rmw_topic_endpoint_info_t to TopicEndpointInfo.
+  TopicEndpointInfo(const rmw_topic_endpoint_info_t & info)
+  : node_name(info.node_name),
+    node_namespace(info.node_namespace),
+    topic_type(info.topic_type),
+    endpoint_type(info.endpoint_type),
+    qos({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile)
+  {
+    std::copy(info.endpoint_gid, info.endpoint_gid+RMW_GID_STORAGE_SIZE, endpoint_gid.begin());
+  }
 };
 
 namespace node_interfaces
@@ -165,24 +182,22 @@ class NodeGraphInterface
   size_t
   count_graph_users() = 0;
 
-  /// Returns a list of all publishers to a topic.
+  /// Return a list of publishers about topic endpoint information to a given topic.
   /**
-   * Each element in the list will contain the node name, node namespace, topic type,
-   * gid and the qos profile of the publisher.
+   * \sa rclcpp::Node::get_publishers_info_by_topic
    */
   RCLCPP_PUBLIC
   virtual
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
 
-  /// Returns a list of all subscriptions to a topic.
+  /// Return a list of subscriptions about topic endpoint information to a given topic.
   /**
-   * Each element in the list will contain the node name, node namespace, topic type,
-   * gid and the qos profile of the subscription.
+   * \sa rclcpp::Node::get_subscriptions_info_by_topic
    */
   RCLCPP_PUBLIC
   virtual
-  std::vector<rclcpp::TopicInfo>
+  std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
 };
 

rclcpp/src/rclcpp/node.cpp

@@ -494,13 +494,13 @@ Node::assert_liveliness() const
   return node_base_->assert_liveliness();
 }
 
-std::vector<rclcpp::TopicInfo>
+std::vector<rclcpp::TopicEndpointInfo>
 Node::get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle) const
 {
   return node_graph_->get_publishers_info_by_topic(topic_name, no_mangle);
 }
 
-std::vector<rclcpp::TopicInfo>
+std::vector<rclcpp::TopicEndpointInfo>
 Node::get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle) const
 {
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -28,6 +28,12 @@
 using rclcpp::node_interfaces::NodeGraph;
 using rclcpp::exceptions::throw_from_rcl_error;
 using rclcpp::graph_listener::GraphListener;
+using rcl_get_info_by_topic_func_t = rcl_ret_t (* )(
+  const rcl_node_t *,
+  rcutils_allocator_t *,
+  const char *,
+  bool,
+  rmw_topic_endpoint_info_array_t *);
 
 NodeGraph::NodeGraph(rclcpp::node_interfaces::NodeBaseInterface * node_base)
 : node_base_(node_base),
@@ -371,53 +377,39 @@ NodeGraph::count_graph_users()
 }
 
 static
-rclcpp::TopicInfo
-convert_to_topic_info(const rmw_topic_info_t * info)
+std::vector<rclcpp::TopicEndpointInfo>
+convert_to_topic_info_list(const rmw_topic_endpoint_info_array_t & info_array)
 {
-  rclcpp::TopicInfo topic_info;
-  topic_info.node_name = info->node_name;
-  topic_info.node_namespace = info->node_namespace;
-  topic_info.topic_type = info->topic_type;
-  memcpy(topic_info.gid, info->gid, RMW_GID_STORAGE_SIZE);
-  memcpy(&topic_info.qos_profile, &info->qos_profile, sizeof(rmw_qos_profile_t));
-  return topic_info;
-}
-
-static
-std::vector<rclcpp::TopicInfo>
-convert_to_topic_info_list(const rmw_topic_info_array_t * info_array)
-{
-  std::vector<rclcpp::TopicInfo> topic_info_list;
-  for (size_t i = 0; i < info_array->count; ++i) {
-    rmw_topic_info_t topic_info = info_array->info_array[i];
-    auto topic_info_item = convert_to_topic_info(&topic_info);
-    topic_info_list.push_back(topic_info_item);
+  std::vector<rclcpp::TopicEndpointInfo> topic_info_list;
+  for (size_t i = 0; i < info_array.count; ++i) {
+    topic_info_list.push_back(rclcpp::TopicEndpointInfo(info_array.info_array[i]));
   }
   return topic_info_list;
 }
 
-std::vector<rclcpp::TopicInfo>
-NodeGraph::get_info_by_topic(
+template <typename TypeT, typename FunctionT>
+static std::vector<rclcpp::TopicEndpointInfo>
+get_info_by_topic(
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const std::string & topic_name,
   bool no_mangle,
-  const std::string & type,
-  rcl_get_info_by_topic_func_t rcl_get_info_by_topic) const
+  TypeT type,
+  FunctionT rcl_get_info_by_topic)
 {
-  std::vector<rclcpp::TopicInfo> topic_info_list;
+  std::vector<rclcpp::TopicEndpointInfo> topic_info_list;
 
-  auto rcl_node_handle = node_base_->get_rcl_node_handle();
+  auto rcl_node_handle = node_base->get_rcl_node_handle();
   auto fqdn = rclcpp::expand_topic_or_service_name(
     topic_name,
     rcl_node_get_name(rcl_node_handle),
     rcl_node_get_namespace(rcl_node_handle),
     false);    // false = not a service
 
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  rmw_topic_info_array_t info_array = rmw_get_zero_initialized_topic_info_array();
+  rmw_topic_endpoint_info_array_t info_array = rmw_get_zero_initialized_topic_endpoint_info_array();
   auto ret =
     rcl_get_info_by_topic(rcl_node_handle, &allocator, fqdn.c_str(), no_mangle, &info_array);
   if (ret != RCL_RET_OK) {
-    // *INDENT-OFF*
     auto error_msg =
       std::string("Failed to get information by topic for: ") + type + std::string(":");
     if (ret == RCL_RET_UNSUPPORTED) {
@@ -426,44 +418,43 @@ NodeGraph::get_info_by_topic(
       error_msg += rcl_get_error_string().str;
     }
     rcl_reset_error();
-    if (rmw_topic_info_array_fini(&info_array, &allocator) != RMW_RET_OK) {
+    if (rmw_topic_endpoint_info_array_fini(&info_array, &allocator) != RMW_RET_OK) {
       error_msg += std::string(", failed also to cleanup topic info array, leaking memory: ")
         + rcl_get_error_string().str;
       rcl_reset_error();
     }
-    throw std::runtime_error(error_msg);
-    // *INDENT-ON*
+    throw_from_rcl_error(ret, error_msg);
   }
 
-  topic_info_list = convert_to_topic_info_list(&info_array);
-  if (rmw_topic_info_array_fini(&info_array, &allocator) != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("rmw_topic_info_array_fini failed."));
-    // *INDENT-ON*
+  topic_info_list = convert_to_topic_info_list(info_array);
+  ret = rmw_topic_endpoint_info_array_fini(&info_array, &allocator);
+  if (ret != RMW_RET_OK) {
+    throw_from_rcl_error(ret, "rmw_topic_info_array_fini failed.");
   }
 
   return topic_info_list;
 }
 
-std::vector<rclcpp::TopicInfo>
+std::vector<rclcpp::TopicEndpointInfo>
 NodeGraph::get_publishers_info_by_topic(
   const std::string & topic_name,
   bool no_mangle) const
 {
-  return get_info_by_topic(
+  return get_info_by_topic<const char*, rcl_get_info_by_topic_func_t>(
+    node_base_,
     topic_name,
     no_mangle,
-    "publishers",
+    "publisher",
     rcl_get_publishers_info_by_topic);
 }
 
-std::vector<rclcpp::TopicInfo>
+std::vector<rclcpp::TopicEndpointInfo>
 NodeGraph::get_subscriptions_info_by_topic(
   const std::string & topic_name,
   bool no_mangle) const
 {
-  return get_info_by_topic(
+  return get_info_by_topic<const char*, rcl_get_info_by_topic_func_t>(
+    node_base_,
     topic_name,
     no_mangle,
     "subscriptions",

rclcpp/test/test_node.cpp

@@ -2547,8 +2547,9 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
   // Verify publisher list has the right data.
   EXPECT_EQ(node->get_name(), publisher_list[0].node_name);
   EXPECT_EQ(node->get_namespace(), publisher_list[0].node_namespace);
-  EXPECT_EQ("test_msgs::msg::dds_::BasicTypes_", publisher_list[0].topic_type);
-  auto actual_qos_profile = publisher_list[0].qos_profile;
+  EXPECT_EQ("test_msgs/msg/BasicTypes", publisher_list[0].topic_type);
+  EXPECT_EQ(RMW_ENDPOINT_PUBLISHER, publisher_list[0].endpoint_type);
+  auto actual_qos_profile = publisher_list[0].qos.get_rmw_qos_profile();
 
   auto assert_qos_profile = [](const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2) {
       // Depth and history are skipped because they are not retrieved.
@@ -2601,13 +2602,15 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
   // Verify publisher and subscription list has the right data.
   EXPECT_EQ(node->get_name(), publisher_list[0].node_name);
   EXPECT_EQ(node->get_namespace(), publisher_list[0].node_namespace);
-  EXPECT_EQ("test_msgs::msg::dds_::BasicTypes_", publisher_list[0].topic_type);
-  auto publisher_qos_profile = publisher_list[0].qos_profile;
+  EXPECT_EQ("test_msgs/msg/BasicTypes", publisher_list[0].topic_type);
+  EXPECT_EQ(RMW_ENDPOINT_PUBLISHER, publisher_list[0].endpoint_type);
+  auto publisher_qos_profile = publisher_list[0].qos.get_rmw_qos_profile();
   assert_qos_profile(qos.get_rmw_qos_profile(), publisher_qos_profile);
   EXPECT_EQ(node->get_name(), subscription_list[0].node_name);
   EXPECT_EQ(node->get_namespace(), subscription_list[0].node_namespace);
-  EXPECT_EQ("test_msgs::msg::dds_::BasicTypes_", subscription_list[0].topic_type);
-  auto subscription_qos_profile = subscription_list[0].qos_profile;
+  EXPECT_EQ("test_msgs/msg/BasicTypes", subscription_list[0].topic_type);
+  EXPECT_EQ(RMW_ENDPOINT_SUBSCRIPTION, subscription_list[0].endpoint_type);
+  auto subscription_qos_profile = subscription_list[0].qos.get_rmw_qos_profile();
   assert_qos_profile(qos2.get_rmw_qos_profile(), subscription_qos_profile);
 
   // Error cases