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Change rmw_count_publishers API, to rcl equivalent rcl_count_publishe… #425

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merged 4 commits into from
Dec 20, 2017
Merged

Change rmw_count_publishers API, to rcl equivalent rcl_count_publishe… #425

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24f4338
Change rmw_count_publishers API, to rcl equivalent rcl_count_publishe…
Dec 14, 2017
228b00d
Remove rmw_handle and refer to rcl_node_handle, change the API signat…
Dec 15, 2017
9edf077
Use rcl_* specific functions to derive the fully qualified topic name.
Dec 19, 2017
1800547
[nitpick] remove unnecessary variable storage
dhood Dec 20, 2017
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20 changes: 10 additions & 10 deletions rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -166,16 +166,16 @@ NodeGraph::get_node_names() const
size_t
NodeGraph::count_publishers(const std::string & topic_name) const
{
auto rmw_node_handle = rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle());
auto rcl_node_handle = node_base_->get_rcl_node_handle();

auto fqdn = rclcpp::expand_topic_or_service_name(
topic_name,
rmw_node_handle->name,
rmw_node_handle->namespace_,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle),
false); // false = not a service

size_t count;
// TODO(wjwwood): use the rcl equivalent methods
auto ret = rmw_count_publishers(rmw_node_handle, fqdn.c_str(), &count);
auto ret = rcl_count_publishers(rcl_node_handle, fqdn.c_str(), &count);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
Expand All @@ -188,16 +188,16 @@ NodeGraph::count_publishers(const std::string & topic_name) const
size_t
NodeGraph::count_subscribers(const std::string & topic_name) const
{
auto rmw_node_handle = rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle());
auto rcl_node_handle = node_base_->get_rcl_node_handle();

auto fqdn = rclcpp::expand_topic_or_service_name(
topic_name,
rmw_node_handle->name,
rmw_node_handle->namespace_,
rcl_node_get_name(rcl_node_handle),
rcl_node_get_namespace(rcl_node_handle),
false); // false = not a service

size_t count;
// TODO(wjwwood): use the rcl equivalent methods
auto ret = rmw_count_subscribers(rmw_node_handle, fqdn.c_str(), &count);
auto ret = rcl_count_subscribers(rcl_node_handle, fqdn.c_str(), &count);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
Expand Down