Implement functions to get publisher and subcription informations lik…

…e QoS policies from topic name (#336)

Signed-off-by: Jaison Titus <[email protected]>
Signed-off-by: Miaofei <[email protected]>

rmw_fastrtps_cpp/CMakeLists.txt

@@ -60,6 +60,7 @@ add_library(rmw_fastrtps_cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp
+  src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_node.cpp

rmw_fastrtps_cpp/src/rmw_get_topic_endpoint_info.cpp

@@ -0,0 +1,46 @@
+// 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.
+
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/topic_endpoint_info_array.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_cpp/identifier.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+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)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_publishers_info_by_topic(
+    eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, publishers_info);
+}
+
+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)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_subscriptions_info_by_topic(
+    eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, subscriptions_info);
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -64,6 +64,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp
+  src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_node.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_endpoint_info.cpp

@@ -0,0 +1,46 @@
+// 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.
+
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/topic_endpoint_info_array.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+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)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_publishers_info_by_topic(
+    eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, publishers_info);
+}
+
+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)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_subscriptions_info_by_topic(
+    eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, subscriptions_info);
+}
+}  // extern "C"

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -56,6 +56,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_compare_gids_equal.cpp
   src/rmw_count.cpp
   src/rmw_get_gid_for_publisher.cpp
+  src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_logging.cpp
   src/rmw_node.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp

@@ -164,16 +164,22 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
   {
     auto & topic_cache =
       is_reader ? reader_topic_cache : writer_topic_cache;
-
     bool trigger;
     {
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
       if (is_alive) {
-        trigger = topic_cache().addTopic(proxyData.RTPSParticipantKey(),
-            proxyData.topicName().to_string(), proxyData.typeName().to_string());
+        trigger = topic_cache().addTopic(
+          proxyData.RTPSParticipantKey(),
+          proxyData.guid(),
+          proxyData.topicName().to_string(),
+          proxyData.typeName().to_string(),
+          proxyData.m_qos);
       } else {
-        trigger = topic_cache().removeTopic(proxyData.RTPSParticipantKey(),
-            proxyData.topicName().to_string(), proxyData.typeName().to_string());
+        trigger = topic_cache().removeTopic(
+          proxyData.RTPSParticipantKey(),
+          proxyData.guid(),
+          proxyData.topicName().to_string(),
+          proxyData.typeName().to_string());
       }
     }
     if (trigger) {

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

@@ -18,6 +18,8 @@
 #include "rmw/rmw.h"
 
 #include "./visibility_control.h"
+#include "fastrtps/qos/WriterQos.h"
+#include "fastrtps/qos/ReaderQos.h"
 
 namespace eprosima
 {
@@ -44,6 +46,68 @@ get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastrtps::PublisherAttributes & pattr);
 
+/*
+ * Converts the low-level QOS Policy; of type WriterQos or ReaderQos into rmw_qos_profile_t.
+ * Since WriterQos or ReaderQos does not have information about history and depth, these values are not set
+ * by this function.
+ *
+ * \param[in] dds_qos of type WriterQos or ReaderQos
+ * \param[out] qos the equivalent of the data in WriterQos or ReaderQos in rmw_qos_profile_t
+ */
+template<typename DDSQoSPolicyT>
+void
+dds_qos_to_rmw_qos(
+  const DDSQoSPolicyT & dds_qos,
+  rmw_qos_profile_t * qos)
+{
+  switch (dds_qos.m_reliability.kind) {
+    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+      break;
+    case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+      break;
+    default:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+      break;
+  }
+
+  switch (dds_qos.m_durability.kind) {
+    case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+      break;
+    case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+      break;
+    default:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+      break;
+  }
+
+  qos->deadline.sec = dds_qos.m_deadline.period.seconds;
+  qos->deadline.nsec = dds_qos.m_deadline.period.nanosec;
+
+  qos->lifespan.sec = dds_qos.m_lifespan.duration.seconds;
+  qos->lifespan.nsec = dds_qos.m_lifespan.duration.nanosec;
+
+  switch (dds_qos.m_liveliness.kind) {
+    case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
+      break;
+    default:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+      break;
+  }
+  qos->liveliness_lease_duration.sec = dds_qos.m_liveliness.lease_duration.seconds;
+  qos->liveliness_lease_duration.nsec = dds_qos.m_liveliness.lease_duration.nanosec;
+}
+
 template<typename AttributeT>
 void
 dds_attributes_to_rmw_qos(

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -18,9 +18,10 @@
 #include "./visibility_control.h"
 
 #include "rmw/error_handling.h"
+#include "rmw/event.h"
 #include "rmw/rmw.h"
+#include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
-#include "rmw/event.h"
 #include "rmw/names_and_types.h"
 
 namespace rmw_fastrtps_shared_cpp
@@ -349,6 +350,26 @@ RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_destroy_wait_set(const char * identifier, rmw_wait_set_t * wait_set);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_publishers_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * publishers_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_subscriptions_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * subscriptions_info);
+
 }  // namespace rmw_fastrtps_shared_cpp
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_