Methods used to introspect the GraphCache. More...

Typedefs
using	rmw_dds_common::GraphCache::DemangleFunctionT = std::function< std::string(const std::string &)>

Functions
rmw_ret_t	rmw_dds_common::GraphCache::get_writer_count (const std::string &topic_name, size_t *count) const
	Get the number of publishers of a topic. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_reader_count (const std::string &topic_name, size_t *count) const
	Get the number of subscriptions of a topic. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_writers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_topic_endpoint_info_array_t endpoints_info) const
	Get an array with information about the writers in a topic. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_readers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_topic_endpoint_info_array_t endpoints_info) const
	Get an array with information about the readers in a topic. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_names_and_types (DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get all the topic names and types. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_writer_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get the topic names and types that a node is publishing. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_reader_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t allocator, rmw_names_and_types_t topic_names_and_types) const
	Get the topic names and types that a node is subscribing. More...

size_t	rmw_dds_common::GraphCache::get_number_of_nodes () const
	Get the number of nodes that have been discovered. More...

rmw_ret_t	rmw_dds_common::GraphCache::get_node_names (rcutils_string_array_t node_names, rcutils_string_array_t node_namespaces, rcutils_string_array_t enclaves, rcutils_allocator_t allocator) const
	Copy the names and namespaces of the discovered nodes. More...

Detailed Description

Methods used to introspect the GraphCache.

Typedef Documentation

◆ DemangleFunctionT

using rmw_dds_common::GraphCache::DemangleFunctionT = std::function<std::string(const std::string &)>

Function Documentation

◆ get_writer_count()

rmw_ret_t rmw_dds_common::GraphCache::get_writer_count	(	const std::string &	topic_name,
		size_t *	count
	)		const

Get the number of publishers of a topic.

Parameters

[in]	topic_name	Name of the topic.
[out]	count	The result will be populated there.

Returns: RMW_RET_INVALID_ARGUMENT if count is nullptr, or; RMW_RET_ERROR if an unexpected error take place, or; RMW_RET_OK.

◆ get_reader_count()

rmw_ret_t rmw_dds_common::GraphCache::get_reader_count	(	const std::string &	topic_name,
		size_t *	count
	)		const

Get the number of subscriptions of a topic.

Parameters

[in]	topic_name	Name of the topic.
[out]	count	The result will be populated there.

Returns: RMW_RET_INVALID_ARGUMENT if count is nullptr, or; RMW_RET_ERROR if an unexpected error take place, or; RMW_RET_OK.

◆ get_writers_info_by_topic()

rmw_ret_t rmw_dds_common::GraphCache::get_writers_info_by_topic	(	const std::string &	topic_name,
		DemangleFunctionT	demangle_type,
		rcutils_allocator_t *	allocator,
		rmw_topic_endpoint_info_array_t *	endpoints_info
	)		const

Get an array with information about the writers in a topic.

Parameters

[in]	topic_name	Name of the topic.
[in]	demangle_type	Function that takes a type names and return it demangled.
[in]	allocator	Used to allocate memory.
[out]	endpoints_info	Array with the writers information.

Returns: RMW_RET_INVALID_ARGUMENT if count is nullptr, or; RMW_RET_ERROR if an unexpected error take place, or; RMW_RET_OK.

◆ get_readers_info_by_topic()

rmw_ret_t rmw_dds_common::GraphCache::get_readers_info_by_topic	(	const std::string &	topic_name,
		DemangleFunctionT	demangle_type,
		rcutils_allocator_t *	allocator,
		rmw_topic_endpoint_info_array_t *	endpoints_info
	)		const

Get an array with information about the readers in a topic.

Parameters

[in]	topic_name	Name of the topic.
[in]	demangle_type	Function that takes a type names and return it demangled.
[in]	allocator	Used to allocate memory.
[out]	endpoints_info	Array with the readers information.

Returns: RMW_RET_INVALID_ARGUMENT if count is nullptr, or; RMW_RET_ERROR if an unexpected error take place, or; RMW_RET_OK.

◆ get_names_and_types()

rmw_ret_t rmw_dds_common::GraphCache::get_names_and_types	(	DemangleFunctionT	demangle_topic,
		DemangleFunctionT	demangle_type,
		rcutils_allocator_t *	allocator,
		rmw_names_and_types_t *	topic_names_and_types
	)		const

Get all the topic names and types.

Parameters

[in]	demangle_topic	Function that indicates how a dds topic name is demangled into a ros topic name.
[in]	demangle_type	Function that indicates how a dds type name is demangled into a ros type name.
[in]	allocator.
[in,out]	topic_names_and_types	A zero initialized names and types object, that will be populated with the result.

Returns: RMW_RET_NODE_NAME_NON_EXISTENT if the node doesn't exist, or; RMW_RET_INVALID_ARGUMENT if an argument is invalid, or; RMW_RET_BAD_ALLOC if an allocation failed, or; RMW_RET_ERROR if an unexpected error happened, or; RMW_RET_OK.

◆ get_writer_names_and_types_by_node()

rmw_ret_t rmw_dds_common::GraphCache::get_writer_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		DemangleFunctionT	demangle_topic,
		DemangleFunctionT	demangle_type,
		rcutils_allocator_t *	allocator,
		rmw_names_and_types_t *	topic_names_and_types
	)		const

Get the topic names and types that a node is publishing.

Parameters

[in]	node_name	Name of the node.
[in]	node_namespace	Namespace of the node.
[in]	demangle_topic	Function that indicates how a dds topic name is demangled into a ros topic name.
[in]	demangle_type	Function that indicates how a dds type name is demangled into a ros type name.
[in]	allocator
[in,out]	topic_names_and_types	A zero initialized names and types object, that will be populated with the result.

Returns: RMW_RET_NODE_NAME_NON_EXISTENT if the node doesn't exist, or; RMW_RET_INVALID_ARGUMENT if an argument is invalid, or; RMW_RET_BAD_ALLOC if an allocation failed, or; RMW_RET_ERROR if an unexpected error happened, or; RMW_RET_OK.

◆ get_reader_names_and_types_by_node()

rmw_ret_t rmw_dds_common::GraphCache::get_reader_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		DemangleFunctionT	demangle_topic,
		DemangleFunctionT	demangle_type,
		rcutils_allocator_t *	allocator,
		rmw_names_and_types_t *	topic_names_and_types
	)		const

Get the topic names and types that a node is subscribing.

Parameters

[in]	node_name	Name of the node.
[in]	node_namespace	Namespace of the node.
[in]	demangle_topic	Function that indicates how a dds topic name is demangled into a ros topic name.
[in]	demangle_type	Function that indicates how a dds type name is demangled into a ros type name.
[in]	allocator.
[in,out]	topic_names_and_types	A zero initialized names and types object, that will be populated with the result.

Returns: RMW_RET_NODE_NAME_NON_EXISTENT if the node doesn't exist, or; RMW_RET_INVALID_ARGUMENT if an argument is invalid, or; RMW_RET_BAD_ALLOC if an allocation failed, or; RMW_RET_ERROR if an unexpected error happened, or; RMW_RET_OK.

◆ get_number_of_nodes()

size_t rmw_dds_common::GraphCache::get_number_of_nodes ( ) const

Get the number of nodes that have been discovered.

Returns: RMW_RET_OK, or; RMW_RET_ERROR.

◆ get_node_names()

rmw_ret_t rmw_dds_common::GraphCache::get_node_names	(	rcutils_string_array_t *	node_names,
		rcutils_string_array_t *	node_namespaces,
		rcutils_string_array_t *	enclaves,
		rcutils_allocator_t *	allocator
	)		const

Copy the names and namespaces of the discovered nodes.

Parameters

[in,out]	node_names	A zero initialized string array, where the node names will be copied. Must not be `nullptr`.
[in,out]	node_namespaces	A zero initialized string array, where the node namespaces will be copied. Each item in this array corresponds to an item in the same position of node_names array. Must not be `nullptr`.
[in,out]	enclaves	A zero initialized string array, where the enclave name of the node will be copied. Each item in this array corresponds to an item in the same position of node_names array. In case is `nullptr`, it won't be used.
[in]	allocator.

Returns: RMW_RET_OK, or; RMW_RET_INVALID_ARGUMENT, or; RMW_RET_BAD_ALLOC, or; RMW_RET_ERROR.

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ DemangleFunctionT

Function Documentation

◆ get_writer_count()

◆ get_reader_count()

◆ get_writers_info_by_topic()

◆ get_readers_info_by_topic()

◆ get_names_and_types()

◆ get_writer_names_and_types_by_node()

◆ get_reader_names_and_types_by_node()

◆ get_number_of_nodes()

◆ get_node_names()