Implement functions to get publisher and subcription informations like QoS policies from topic name

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_info.cpp
  src/rmw_guard_condition.cpp
  src/rmw_init.cpp
  src/rmw_node.cpp

rmw_fastrtps_cpp/src/rmw_get_topic_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_info.h"
+#include "rmw/topic_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_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_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_info.cpp
  src/rmw_guard_condition.cpp
  src/rmw_init.cpp
  src/rmw_node.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_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_info.h"
+#include "rmw/topic_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_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_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_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_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_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_info_array_t * subscriptions_info);
+
 } // namespace rmw_fastrtps_shared_cpp
 
 #endif // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_