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Add rmw count clients,services impl #427

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merged 4 commits into from
Sep 29, 2023
Merged

Add rmw count clients,services impl #427

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a34f75b
Add rmw count clients,services impl
leeminju531 Oct 8, 2022
0067164
Fix lint
leeminju531 Oct 9, 2022
bc34434
Fix uncrustify
leeminju531 Oct 9, 2022
a81e068
Fix rmw count clients&services impl
leeminju531 Nov 10, 2022
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56 changes: 56 additions & 0 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5590,6 +5590,62 @@ extern "C" rmw_ret_t rmw_count_subscribers(
return common_context->graph_cache.get_reader_count(mangled_topic_name, count);
}

extern "C" rmw_ret_t rmw_count_clients(
const rmw_node_t * node, const char * service_name,
size_t * count)
{
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(service_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("service_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
auto common_context = &node->context->impl->common;
const std::string mangled_rp_service_name =
make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", false);
return common_context->graph_cache.get_reader_count(mangled_rp_service_name, count);
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If you consider it an error when the number of publisher & the number of subscribers don't match, then arguably you should here return number_of_response_subscribers, because the graph cache may already have changed here.

}

extern "C" rmw_ret_t rmw_count_services(
const rmw_node_t * node, const char * service_name,
size_t * count)
{
RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
node,
node->implementation_identifier,
eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_INVALID_ARGUMENT);
int validation_result = RMW_TOPIC_VALID;
rmw_ret_t ret = rmw_validate_full_topic_name(service_name, &validation_result, nullptr);
if (RMW_RET_OK != ret) {
return ret;
}
if (RMW_TOPIC_VALID != validation_result) {
const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("service_name argument is invalid: %s", reason);
return RMW_RET_INVALID_ARGUMENT;
}
RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
auto common_context = &node->context->impl->common;
const std::string mangled_rp_service_name =
make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", false);
return common_context->graph_cache.get_writer_count(mangled_rp_service_name, count);
}

using GetNamesAndTypesByNodeFunction = rmw_ret_t (*)(
rmw_dds_common::Context *,
const std::string &,
Expand Down