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Methods to retrieve matched counts on publisher and subscriber #155

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merged 4 commits into from
Nov 28, 2018
Merged

Methods to retrieve matched counts on publisher and subscriber #155

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b2e0e21
Methods to retrieve matched counts on pub/sub.
mjcarroll Nov 8, 2018
375c3d3
Address reviewer feedback with naming and docs.
mjcarroll Nov 13, 2018
f11eac0
Fix typos.
mjcarroll Nov 26, 2018
b6c3b57
Apply suggestions from code review
wjwwood Nov 28, 2018
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36 changes: 36 additions & 0 deletions rmw/include/rmw/rmw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,24 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_publish(const rmw_publisher_t * publisher, const void * ros_message);

/// Retrieve the number of matched subscriptions to a publisher.
/**
* Query the underlying middleware to determine how many subscriptions are
* matched to a given publisher.
*
* \param[in] publisher the publisher object to inspect
* \param[out] subscription_count the number of subscriptions matched
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if either argument is null, or
* \return `RMW_RET_ERROR` if an unexpected error occurs.
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*/
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_publisher_count_matched_subscriptions(
const rmw_publisher_t * publisher,
size_t * subscription_count);

/// Publish an already serialized message.
/**
* The publisher must already be registered with the correct message type
Expand Down Expand Up @@ -267,6 +285,24 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription);

/// Retrieve the number of matched publishers to a subscription.
/**
* Query the underlying middleware to determine how many publishers are
* matched to a given subscription.
*
* \param[in] subscription the subscription object to inspect
* \param[out] publisher_count the number of publishers matched
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if either argument is null, or
* \return `RMW_RET_ERROR` if an unexpected error occurs.
*/
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_subscription_count_matched_publishers(
const rmw_subscription_t * subscription,
size_t * publisher_count);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
Expand Down