#include <rmw/names_and_types.h>
#include <rmw/get_topic_names_and_types.h>
#include "rcutils/types.h"
#include "rosidl_generator_c/service_type_support_struct.h"
#include "rcl/macros.h"
#include "rcl/client.h"
#include "rcl/node.h"
#include "rcl/visibility_control.h"

Include dependency graph for graph.h:

Macros
#define	rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types

Typedefs
typedef rmw_names_and_types_t	rcl_names_and_types_t

Functions
rcl_ret_t	rcl_get_publisher_names_and_types_by_node (const rcl_node_t node, rcl_allocator_t allocator, bool no_demangle, const char node_name, const char node_namespace, rcl_names_and_types_t *topic_names_and_types)
	Return a list of topic names and types for publishers associated with a node. More...

rcl_ret_t	rcl_get_subscriber_names_and_types_by_node (const rcl_node_t node, rcl_allocator_t allocator, bool no_demangle, const char node_name, const char node_namespace, rcl_names_and_types_t *topic_names_and_types)
	Return a list of topic names and types for subscriptions associated with a node. More...

rcl_ret_t	rcl_get_service_names_and_types_by_node (const rcl_node_t node, rcl_allocator_t allocator, const char node_name, const char node_namespace, rcl_names_and_types_t *service_names_and_types)
	Return a list of service names and types associated with a node. More...

rcl_ret_t	rcl_get_client_names_and_types_by_node (const rcl_node_t node, rcl_allocator_t allocator, const char node_name, const char node_namespace, rcl_names_and_types_t *service_names_and_types)
	Return a list of service client names and types associated with a node. More...

rcl_ret_t	rcl_get_topic_names_and_types (const rcl_node_t node, rcl_allocator_t allocator, bool no_demangle, rcl_names_and_types_t *topic_names_and_types)
	Return a list of topic names and their types. More...

rcl_ret_t	rcl_get_service_names_and_types (const rcl_node_t node, rcl_allocator_t allocator, rcl_names_and_types_t *service_names_and_types)
	Return a list of service names and their types. More...

rcl_ret_t	rcl_names_and_types_init (rcl_names_and_types_t names_and_types, size_t size, rcl_allocator_t allocator)
	Initialize a rcl_names_and_types_t object. More...

rcl_ret_t	rcl_names_and_types_fini (rcl_names_and_types_t *names_and_types)
	Finalize a rcl_names_and_types_t object. More...

rcl_ret_t	rcl_get_node_names (const rcl_node_t node, rcl_allocator_t allocator, rcutils_string_array_t node_names, rcutils_string_array_t *node_namespaces)
	Return a list of available nodes in the ROS graph. More...

rcl_ret_t	rcl_count_publishers (const rcl_node_t node, const char topic_name, size_t *count)
	Return the number of publishers on a given topic. More...

rcl_ret_t	rcl_count_subscribers (const rcl_node_t node, const char topic_name, size_t *count)
	Return the number of subscriptions on a given topic. More...

rcl_ret_t	rcl_service_server_is_available (const rcl_node_t node, const rcl_client_t client, bool *is_available)
	Check if a service server is available for the given service client. More...

Macro Definition Documentation

◆ rcl_get_zero_initialized_names_and_types

#define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types

Typedef Documentation

◆ rcl_names_and_types_t

typedef rmw_names_and_types_t rcl_names_and_types_t

Function Documentation

◆ rcl_get_publisher_names_and_types_by_node()

rcl_ret_t rcl_get_publisher_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		bool	no_demangle,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	topic_names_and_types
	)

Return a list of topic names and types for publishers associated with a node.

The node parameter must point to a valid node.

The topic_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass topic_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

There may be some demangling that occurs when listing the names from the middleware implementation. If the no_demangle argument is set to true, then this will be avoided and the names will be returned as they appear to the middleware.

See also: rmw_get_topic_names_and_types for more details on no_demangle

The returned names are not automatically remapped by this function. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[in]	no_demangle	if true, list all topics without any demangling
[in]	node_name	the node name of the topics to return
[in]	node_namespace	the node namespace of the topics to return
[out]	topic_names_and_types	list of topic names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_NODE_INVALID_NAME if the node name is invalid, or; RCL_RET_NODE_INVALID_NAMESPACE if the node namespace is invalid, or; RCL_RET_NODE_NAME_NON_EXISTENT if the node name wasn't found, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_subscriber_names_and_types_by_node()

rcl_ret_t rcl_get_subscriber_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		bool	no_demangle,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	topic_names_and_types
	)

Return a list of topic names and types for subscriptions associated with a node.

The node parameter must point to a valid node.

The topic_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass topic_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

See also: rcl_get_publisher_names_and_types_by_node for details on the no_demangle parameter.

The returned names are not automatically remapped by this function. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[in]	no_demangle	if true, list all topics without any demangling
[in]	node_name	the node name of the topics to return
[in]	node_namespace	the node namespace of the topics to return
[out]	topic_names_and_types	list of topic names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_NODE_INVALID_NAME if the node name is invalid, or; RCL_RET_NODE_INVALID_NAMESPACE if the node namespace is invalid, or; RCL_RET_NODE_NAME_NON_EXISTENT if the node name wasn't found, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_service_names_and_types_by_node()

rcl_ret_t rcl_get_service_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	service_names_and_types
	)

Return a list of service names and types associated with a node.

The node parameter must point to a valid node.

The service_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass service_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

See also: rcl_get_publisher_names_and_types_by_node for details on the no_demangle parameter.

The returned names are not automatically remapped by this function. Attempting to create service clients using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[in]	node_name	the node name of the services to return
[in]	node_namespace	the node namespace of the services to return
[out]	service_names_and_types	list of service names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_NODE_INVALID_NAME if the node name is invalid, or; RCL_RET_NODE_INVALID_NAMESPACE if the node namespace is invalid, or; RCL_RET_NODE_NAME_NON_EXISTENT if the node name wasn't found, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_client_names_and_types_by_node()

rcl_ret_t rcl_get_client_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	service_names_and_types
	)

Return a list of service client names and types associated with a node.

The node parameter must point to a valid node.

The service_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass service_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

See also: rcl_get_publisher_names_and_types_by_node for details on the no_demangle parameter.

The returned names are not automatically remapped by this function. Attempting to create service servers using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[in]	node_name	the node name of the services to return
[in]	node_namespace	the node namespace of the services to return
[out]	service_names_and_types	list of service client names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_NODE_INVALID_NAME if the node name is invalid, or; RCL_RET_NODE_INVALID_NAMESPACE if the node namespace is invalid, or; RCL_RET_NODE_NAME_NON_EXISTENT if the node name wasn't found, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_topic_names_and_types()

rcl_ret_t rcl_get_topic_names_and_types	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		bool	no_demangle,
		rcl_names_and_types_t *	topic_names_and_types
	)

Return a list of topic names and their types.

The node parameter must point to a valid node.

The topic_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass topic_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

See also: rcl_get_publisher_names_and_types_by_node for details on the no_demangle parameter.

The returned names are not automatically remapped by this function. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[in]	no_demangle	if true, list all topics without any demangling
[out]	topic_names_and_types	list of topic names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_NODE_INVALID_NAME if the node name is invalid, or; RCL_RET_NODE_INVALID_NAMESPACE if the node namespace is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_service_names_and_types()

rcl_ret_t rcl_get_service_names_and_types	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		rcl_names_and_types_t *	service_names_and_types
	)

Return a list of service names and their types.

The node parameter must point to a valid node.

The service_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass service_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

The returned names are not automatically remapped by this function. Attempting to create clients or services using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator to be used when allocating space for strings
[out]	service_names_and_types	list of service names and their types

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_names_and_types_init()

rcl_ret_t rcl_names_and_types_init	(	rcl_names_and_types_t *	names_and_types,
		size_t	size,
		rcl_allocator_t *	allocator
	)

Initialize a rcl_names_and_types_t object.

This function initializes the string array for the names and allocates space for all the string arrays for the types according to the given size, but it does not initialize the string array for each set of types. However, the string arrays for each set of types is zero initialized.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in,out]	names_and_types	object to be initialized
[in]	size	the number of names and sets of types to be stored
[in]	allocator	to be used to allocate and deallocate memory

Returns: RCL_RET_OK on success, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_BAD_ALLOC if memory allocation fails, or; RCL_RET_ERROR when an unspecified error occurs.

◆ rcl_names_and_types_fini()

rcl_ret_t rcl_names_and_types_fini ( rcl_names_and_types_t * names_and_types )

Finalize a rcl_names_and_types_t object.

The object is populated when given to one of the rcl_get_*_names_and_types() functions. This function reclaims any resources allocated during population.

The names_and_types parameter must not be NULL, and must point to an already allocated rcl_names_and_types_t struct that was previously passed to a successful rcl_get_*_names_and_types() function call.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in,out] names_and_types struct to be finalized

Returns: RCL_RET_OK if successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_get_node_names()

rcl_ret_t rcl_get_node_names	(	const rcl_node_t *	node,
		rcl_allocator_t	allocator,
		rcutils_string_array_t *	node_names,
		rcutils_string_array_t *	node_namespaces
	)

Return a list of available nodes in the ROS graph.

The node parameter must point to a valid node.

The node_names parameter must be allocated and zero initialized. node_names is the output for this function, and contains allocated memory. Note that entries in the array might contain NULL values. Use rcutils_get_zero_initialized_string_array() for initializing an empty rcutils_string_array_t struct. This node_names struct should therefore be passed to rcutils_string_array_fini() when it is no longer needed. Failing to do so will result in leaked memory.

Example:

rcutils_string_array_t node_names =
  rcutils_get_zero_initialized_string_array();
rcl_ret_t ret = rcl_get_node_names(node, &node_names);
if (ret != RCL_RET_OK) {
  // ... error handling
}
// ... use the node_names struct, and when done:
rcutils_ret_t rcutils_ret = rcutils_string_array_fini(&node_names);
if (rcutils_ret != RCUTILS_RET_OK) {
  // ... error handling
}

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	used to control allocation and deallocation of names
[out]	node_names	struct storing discovered node names.
[out]	node_namesspaces	struct storing discovered node namespaces.

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_count_publishers()

rcl_ret_t rcl_count_publishers	(	const rcl_node_t *	node,
		const char *	topic_name,
		size_t *	count
	)

Return the number of publishers on a given topic.

The node parameter must point to a valid node.

The topic_name parameter must not be NULL, and must not be an empty string. It should also follow the topic name rules.

Todo:: TODO(wjwwood): link to the topic name rules.

The count parameter must point to a valid bool. The count parameter is the output for this function and will be set.

In the event that error handling needs to allocate memory, this function will try to use the node's allocator.

The topic name is not automatically remapped by this function. If there is a publisher created with topic name foo and remap rule foo:=bar then calling this with topic_name set to bar will return a count of 1, and with topic_name set to foo will return a count of 0. /sa rcl_remap_topic_name()

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	topic_name	the name of the topic in question
[out]	count	number of publishers on the given topic

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_count_subscribers()

rcl_ret_t rcl_count_subscribers	(	const rcl_node_t *	node,
		const char *	topic_name,
		size_t *	count
	)

Return the number of subscriptions on a given topic.

The node parameter must point to a valid node.

The topic_name parameter must not be NULL, and must not be an empty string. It should also follow the topic name rules.

Todo:: TODO(wjwwood): link to the topic name rules.

The count parameter must point to a valid bool. The count parameter is the output for this function and will be set.

In the event that error handling needs to allocate memory, this function will try to use the node's allocator.

The topic name is not automatically remapped by this function. If there is a subscriber created with topic name foo and remap rule foo:=bar then calling this with topic_name set to bar will return a count of 1, and with topic_name set to foo will return a count of 0. /sa rcl_remap_topic_name()

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	topic_name	the name of the topic in question
[out]	count	number of subscriptions on the given topic

Returns: RCL_RET_OK if the query was successful, or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_service_server_is_available()

rcl_ret_t rcl_service_server_is_available	(	const rcl_node_t *	node,
		const rcl_client_t *	client,
		bool *	is_available
	)

Check if a service server is available for the given service client.

This function will return true for is_available if there is a service server available for the given client.

The node parameter must point to a valid node.

The client parameter must point to a valid client.

The given client and node must match, i.e. the client must have been created using the given node.

The is_available parameter must not be NULL, and must point a bool variable. The result of the check will be stored in the is_available parameter.

In the event that error handling needs to allocate memory, this function will try to use the node's allocator.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	client	the handle to the service client being queried
[out]	is_available	set to true if there is a service server available, else false

Returns: RCL_RET_OK if the check was made successfully (regardless of the service readiness), or; RCL_RET_NODE_INVALID if the node is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

Macros

Typedefs

Functions

Macro Definition Documentation

◆ rcl_get_zero_initialized_names_and_types

Typedef Documentation

◆ rcl_names_and_types_t

Function Documentation

◆ rcl_get_publisher_names_and_types_by_node()

◆ rcl_get_subscriber_names_and_types_by_node()

◆ rcl_get_service_names_and_types_by_node()

◆ rcl_get_client_names_and_types_by_node()

◆ rcl_get_topic_names_and_types()

◆ rcl_get_service_names_and_types()

◆ rcl_names_and_types_init()

◆ rcl_names_and_types_fini()

◆ rcl_get_node_names()

◆ rcl_count_publishers()

◆ rcl_count_subscribers()

◆ rcl_service_server_is_available()