-
Notifications
You must be signed in to change notification settings - Fork 67
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Adding required structs and methods to get a list of publishers or su…
…bscribers with their respective qos (#186) Signed-off-by: Jaison Titus <jaisontj92@gmail.com> Signed-off-by: Miaofei <miaofei@amazon.com>
- Loading branch information
Showing
13 changed files
with
1,116 additions
and
1 deletion.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,128 @@ | ||
// 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__GET_TOPIC_ENDPOINT_INFO_H_ | ||
#define RMW__GET_TOPIC_ENDPOINT_INFO_H_ | ||
|
||
#ifdef __cplusplus | ||
extern "C" | ||
{ | ||
#endif | ||
|
||
#include "rmw/topic_endpoint_info_array.h" | ||
#include "rmw/visibility_control.h" | ||
|
||
/// Retrieve the information for all publishers to a given topic. | ||
/** | ||
* The retrieved information will contain the publisher's node name, node namespace, | ||
* associated topic type, publisher gid and qos profile. | ||
* | ||
* The node parameter must not be `NULL` and must point to a valid node. | ||
* | ||
* The topic_name parameter must not be `NULL` and must follow the topic naming rules | ||
* mentioned at http://design.ros2.org/articles/topic_and_service_names.html | ||
* Names of non-existent topics are allowed. | ||
* In that case, this function will return an empty array. | ||
* | ||
* 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. | ||
* The rmw_topic_endpoint_info_array_t struct must be zero initialized. | ||
* \see rmw_get_zero_initialized_topic_endpoint_info_array | ||
* | ||
* The `allocator` will be used to allocate memory to the `info_array` member | ||
* inside of `publishers_info`. | ||
* Moreover, every `const char *` member inside of | ||
* rmw_topic_endpoint_info_t will be assigned a copied value on allocated memory. | ||
* \see rmw_topic_endpoint_info_set_topic_type | ||
* \see rmw_topic_endpoint_info_set_node_name | ||
* \see rmw_topic_endpoint_info_set_node_namespace | ||
* However, it is the responsibility of the caller to | ||
* reclaim any allocated resources to `publishers_info` to avoid leaking memory. | ||
* \see rmw_topic_endpoint_info_array_fini | ||
* | ||
* \param[in] node the handle to the node being used to query the ROS graph. | ||
* \param[in] allocator the allocator to be used when allocating space for the array. | ||
* \param[in] topic_name the name of the topic for which the list of publishers will be retrieved. | ||
* \param[in] no_mangle if true, the topic name will not be mangled. | ||
* \param[out] publishers_info an array of rmw_topic_endpoint_info_t. | ||
* \return `RMW_RET_OK` if the query was successful, or | ||
* \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or | ||
* \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
* \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or | ||
* \return `RMW_RET_ERROR` if an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
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); | ||
|
||
/// Retrieve the information for all subscriptions to a given topic. | ||
/** | ||
* The retrieved information will contain the subscriptions's node name, node namespace, | ||
* associated topic type, subscription gid and qos profile. | ||
* | ||
* The node parameter must not be `NULL` and must point to a valid node. | ||
* | ||
* The topic_name parameter must not be `NULL` and must follow the topic naming rules | ||
* mentioned at http://design.ros2.org/articles/topic_and_service_names.html | ||
* Names of non-existent topics are allowed. | ||
* They will return an empty array. | ||
* | ||
* 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. | ||
* The rmw_topic_endpoint_info_array_t struct must be zero initialized. | ||
* \see rmw_get_zero_initialized_topic_endpoint_info_array | ||
* | ||
* The `allocator` will be used to allocate memory to the `info_array` member | ||
* inside of `publishers_info`. | ||
* Moreover, every `const char *` member inside of | ||
* rmw_topic_endpoint_info_t will be assigned a copied value on allocated memory. | ||
* \see rmw_topic_endpoint_info_set_topic_type | ||
* \see rmw_topic_endpoint_info_set_node_name | ||
* \see rmw_topic_endpoint_info_set_node_namespace | ||
* However, it is the responsibility of the caller to | ||
* reclaim any allocated resources to `publishers_info` to avoid leaking memory. | ||
* \see rmw_topic_endpoint_info_array_fini | ||
* | ||
* \param[in] node the handle to the node being used to query the ROS graph. | ||
* \param[in] allocator the allocator to be used when allocating space for the array. | ||
* \param[in] topic_name the name of the topic for which the list of subscriptions will be retrieved. | ||
* \param[in] no_mangle if true, the topic name will not be mangled. | ||
* \param[out] subscriptions_info an array of rmw_topic_endpoint_info_t.. | ||
* \return `RMW_RET_OK` if the query was successful, or | ||
* \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or | ||
* \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
* \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or | ||
* \return `RMW_RET_ERROR` if an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
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); | ||
|
||
#ifdef __cplusplus | ||
} | ||
#endif | ||
|
||
#endif // RMW__GET_TOPIC_ENDPOINT_INFO_H_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,192 @@ | ||
// 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__TOPIC_ENDPOINT_INFO_H_ | ||
#define RMW__TOPIC_ENDPOINT_INFO_H_ | ||
|
||
#ifdef __cplusplus | ||
extern "C" | ||
{ | ||
#endif | ||
|
||
#include "rcutils/allocator.h" | ||
#include "rmw/types.h" | ||
#include "rmw/visibility_control.h" | ||
|
||
/// A structure that encapsulates the name, namespace, topic_type, gid and qos_profile | ||
/// of publishers and subscriptions for a topic. | ||
typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_t | ||
{ | ||
/// Name of the node | ||
const char * node_name; | ||
/// Namespace of the node | ||
const char * node_namespace; | ||
/// The associated topic type | ||
const char * topic_type; | ||
/// The endpoint type | ||
rmw_endpoint_type_t endpoint_type; | ||
/// The GID of the endpoint | ||
uint8_t endpoint_gid[RMW_GID_STORAGE_SIZE]; | ||
/// QoS profile of the endpoint | ||
rmw_qos_profile_t qos_profile; | ||
} rmw_topic_endpoint_info_t; | ||
|
||
/// Return a rmw_topic_endpoint_info_t struct with members initialized to `NULL`. | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_topic_endpoint_info_t | ||
rmw_get_zero_initialized_topic_endpoint_info(void); | ||
|
||
/// Finalize a rmw_topic_endpoint_info_t object. | ||
/** | ||
* The rmw_topic_endpoint_info_t struct has members which require memory to be allocated to them before | ||
* setting values. | ||
* This function reclaims any allocated resources within the object and zeroes out all other | ||
* members. | ||
* | ||
* \param[inout] topic_endpoint_info object to be finalized | ||
* \param[in] allocator the allocator used to allocate memory to the object | ||
* \returns `RMW_RET_OK` on successfully reclaiming memory, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_fini( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
rcutils_allocator_t * allocator); | ||
|
||
/// Set the topic_type in rmw_topic_endpoint_info_t. | ||
/** | ||
* rmw_topic_endpoint_info_t has a member topic_type of type const char *; | ||
* this function allocates memory and copies the value of param passed to it. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] topic_type the topic_type value to set in rmw_topic_endpoint_info_t | ||
* \param[in] allocator the allocator that will be used to allocate memory | ||
* \returns `RMW_RET_OK` on successfully setting the topic_type, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_topic_type( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
const char * topic_type, | ||
rcutils_allocator_t * allocator); | ||
|
||
/// Set the node_name in rmw_topic_endpoint_info_t. | ||
/** | ||
* rmw_topic_endpoint_info_t has a member node_name of type const char *; | ||
* this function allocates memory and copies the value of param passed to it. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] node_name the node_name value to set in rmw_topic_endpoint_info_t | ||
* \param[in] allocator the allocator that will be used to allocate memory | ||
* \returns `RMW_RET_OK` on successfully setting the node_name, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_node_name( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
const char * node_name, | ||
rcutils_allocator_t * allocator); | ||
|
||
/// Set the node_namespace in rmw_topic_endpoint_info_t. | ||
/** | ||
* rmw_topic_endpoint_info_t has a member node_namespace of type const char *; | ||
* this function allocates memory and copies the value of param passed to it. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] node_namespace the node_namespace value to set in rmw_topic_endpoint_info_t | ||
* \param[in] allocator the allocator that will be used to allocate memory | ||
* \returns `RMW_RET_OK` on successfully setting the node_namespace, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_node_namespace( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
const char * node_namespace, | ||
rcutils_allocator_t * allocator); | ||
|
||
/// Set the gid in rmw_topic_endpoint_info_t. | ||
/** | ||
* Copies the values from gid into the gid member inside topic_endpoint_info. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] gid the gid value to set in rmw_topic_endpoint_info_t | ||
* \param[in] size the size of the gid param | ||
* \returns `RMW_RET_OK` on successfully setting the gid, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` size is greater than RMW_GID_STORAGE_SIZE, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_endpoint_type( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
rmw_endpoint_type_t type); | ||
|
||
/// Set the gid in rmw_topic_endpoint_info_t. | ||
/** | ||
* Copies the values from gid into the gid member inside topic_endpoint_info. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] gid the gid value to set in rmw_topic_endpoint_info_t | ||
* \param[in] size the size of the gid param | ||
* \returns `RMW_RET_OK` on successfully setting the gid, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` size is greater than RMW_GID_STORAGE_SIZE, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_gid( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
const uint8_t gid[], | ||
size_t size); | ||
|
||
/// Set the qos_profile in rmw_topic_endpoint_info_t. | ||
/** | ||
* rmw_topic_endpoint_info_t has a member qos_profile of type const rmw_qos_profile_t *. | ||
* This function assigns the passed qos_profile pointer to the member. | ||
* | ||
* \param[inout] topic_endpoint_info pointer to an initialized instance of rmw_topic_endpoint_info_t | ||
* \param[in] qos_profile the qos_profile to set in rmw_topic_endpoint_info_t | ||
* \returns `RMW_RET_OK` on successfully setting the qos_profile, or | ||
* \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or | ||
* \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
*/ | ||
RMW_PUBLIC | ||
RMW_WARN_UNUSED | ||
rmw_ret_t | ||
rmw_topic_endpoint_info_set_qos_profile( | ||
rmw_topic_endpoint_info_t * topic_endpoint_info, | ||
const rmw_qos_profile_t * qos_profile); | ||
|
||
#ifdef __cplusplus | ||
} | ||
#endif | ||
|
||
#endif // RMW__TOPIC_ENDPOINT_INFO_H_ |
Oops, something went wrong.