rmw_count.cpp

// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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 <map>
#include <string>
#include <vector>
#include <mutex>
#include <numeric>

#include "rcutils/logging_macros.h"

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"
#include "rmw/types.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/context.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/names.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"

namespace rmw_fastrtps_shared_cpp
{

rmw_ret_t
__rmw_count_publishers(
  const char * identifier,
  const rmw_node_t * node,
  const char * topic_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(topic_name, RMW_RET_INVALID_ARGUMENT);
  int validation_result = RMW_TOPIC_VALID;
  rmw_ret_t ret = rmw_validate_full_topic_name(topic_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("topic_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_topic_name =
    _mangle_topic_name(ros_topic_prefix, topic_name).to_string();
  return common_context->graph_cache.get_writer_count(mangled_topic_name, count);
}

rmw_ret_t
__rmw_count_subscribers(
  const char * identifier,
  const rmw_node_t * node,
  const char * topic_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(topic_name, RMW_RET_INVALID_ARGUMENT);
  int validation_result = RMW_TOPIC_VALID;
  rmw_ret_t ret = rmw_validate_full_topic_name(topic_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("topic_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_topic_name =
    _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