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Add rmw_count clients,services impl #641

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Sep 29, 2023
Merged

Add rmw_count clients,services impl #641

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129c69c
Add rmw_count clients,services impl
leeminju531 Oct 8, 2022
7a599b0
Fix lint & uncrustify
leeminju531 Oct 9, 2022
d611a05
Fix rmw_count clients, services impl
leeminju531 Nov 22, 2022
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20 changes: 20 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_count.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,4 +47,24 @@ rmw_count_subscribers(
return rmw_fastrtps_shared_cpp::__rmw_count_subscribers(
eprosima_fastrtps_identifier, node, topic_name, count);
}

rmw_ret_t
rmw_count_clients(
const rmw_node_t * node,
const char * service_name,
size_t * count)
{
return rmw_fastrtps_shared_cpp::__rmw_count_clients(
eprosima_fastrtps_identifier, node, service_name, count);
}

rmw_ret_t
rmw_count_services(
const rmw_node_t * node,
const char * service_name,
size_t * count)
{
return rmw_fastrtps_shared_cpp::__rmw_count_services(
eprosima_fastrtps_identifier, node, service_name, count);
}
} // extern "C"
20 changes: 20 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_count.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,4 +47,24 @@ rmw_count_subscribers(
return rmw_fastrtps_shared_cpp::__rmw_count_subscribers(
eprosima_fastrtps_identifier, node, topic_name, count);
}

rmw_ret_t
rmw_count_clients(
const rmw_node_t * node,
const char * service_name,
size_t * count)
{
return rmw_fastrtps_shared_cpp::__rmw_count_clients(
eprosima_fastrtps_identifier, node, service_name, count);
}

rmw_ret_t
rmw_count_services(
const rmw_node_t * node,
const char * service_name,
size_t * count)
{
return rmw_fastrtps_shared_cpp::__rmw_count_services(
eprosima_fastrtps_identifier, node, service_name, count);
}
} // extern "C"
16 changes: 16 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
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Expand Up @@ -60,6 +60,22 @@ __rmw_count_subscribers(
const char * topic_name,
size_t * count);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_count_clients(
const char * identifier,
const rmw_node_t * node,
const char * service_name,
size_t * count);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_count_services(
const char * identifier,
const rmw_node_t * node,
const char * service_name,
size_t * count);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_get_gid_for_publisher(
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62 changes: 62 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_count.cpp
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Expand Up @@ -97,4 +97,66 @@ __rmw_count_subscribers(
_mangle_topic_name(ros_topic_prefix, topic_name).to_string();
return common_context->graph_cache.get_reader_count(mangled_topic_name, count);
}

rmw_ret_t
__rmw_count_clients(
const char * identifier,
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,
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 = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
const std::string mangled_rp_service_name =
_mangle_topic_name(ros_service_response_prefix, service_name, "Reply").to_string();
return common_context->graph_cache.get_reader_count(mangled_rp_service_name, count);
}

rmw_ret_t
__rmw_count_services(
const char * identifier,
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,
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 = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
const std::string mangled_rp_service_name =
_mangle_topic_name(ros_service_response_prefix, service_name, "Reply").to_string();
return common_context->graph_cache.get_writer_count(mangled_rp_service_name, count);
}
} // namespace rmw_fastrtps_shared_cpp