Implement the rmw_get_publishers/subscriptions_info_by_topic() methods (

#391)

Signed-off-by: Miaofei <[email protected]>

rmw_connext_cpp/src/rmw_client.cpp

@@ -74,6 +74,7 @@ rmw_create_client(
     RMW_SET_ERROR_MSG("callbacks handle is null");
     return NULL;
   }
+
   // Past this point, a failure results in unrolling code in the goto fail block.
   DDS::SubscriberQos subscriber_qos;
   DDS::ReturnCode_t status;
@@ -90,6 +91,7 @@ rmw_create_client(
   ConnextStaticClientInfo * client_info = nullptr;
   rmw_client_t * client = nullptr;
   std::string mangled_name = "";
+  rmw_qos_profile_t actual_qos_profile;
 
   // memory allocations for namespacing
   char * request_topic_str = nullptr;
@@ -156,7 +158,7 @@ rmw_create_client(
   dds_publisher = request_datawriter->get_publisher();
   status = participant->get_default_publisher_qos(publisher_qos);
   if (status != DDS::RETCODE_OK) {
-    RMW_SET_ERROR_MSG("failed to get default subscriber qos");
+    RMW_SET_ERROR_MSG("failed to get default publisher qos");
     goto fail;
   }
 
@@ -196,23 +198,35 @@ rmw_create_client(
   }
   memcpy(const_cast<char *>(client->service_name), service_name, strlen(service_name) + 1);
 
-  mangled_name =
-    response_datareader->get_topicdescription()->get_name();
+  mangled_name = response_datareader->get_topicdescription()->get_name();
+  status = response_datareader->get_qos(datareader_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("response_datareader can't get data reader qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datareader_qos, &actual_qos_profile);
   node_info->subscriber_listener->add_information(
     node_info->participant->get_instance_handle(),
     response_datareader->get_instance_handle(),
     mangled_name,
     response_datareader->get_topicdescription()->get_type_name(),
+    actual_qos_profile,
     EntityType::Subscriber);
   node_info->subscriber_listener->trigger_graph_guard_condition();
 
-  mangled_name =
-    request_datawriter->get_topic()->get_name();
+  mangled_name = request_datawriter->get_topic()->get_name();
+  status = request_datawriter->get_qos(datawriter_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("request_datawriter can't get data writer qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datawriter_qos, &actual_qos_profile);
   node_info->publisher_listener->add_information(
     node_info->participant->get_instance_handle(),
     request_datawriter->get_instance_handle(),
     mangled_name,
     request_datawriter->get_topic()->get_type_name(),
+    actual_qos_profile,
     EntityType::Publisher);
   node_info->publisher_listener->trigger_graph_guard_condition();
 

rmw_connext_cpp/src/rmw_publisher.cpp

@@ -129,6 +129,7 @@ rmw_create_publisher(
   ConnextStaticPublisherInfo * publisher_info = nullptr;
   rmw_publisher_t * publisher = nullptr;
   std::string mangled_name = "";
+  rmw_qos_profile_t actual_qos_profile;
 
   char * topic_str = nullptr;
 
@@ -269,16 +270,22 @@ rmw_create_publisher(
   publisher->options = *publisher_options;
 
   if (!qos_profile->avoid_ros_namespace_conventions) {
-    mangled_name =
-      topic_writer->get_topic()->get_name();
+    mangled_name = topic_writer->get_topic()->get_name();
   } else {
     mangled_name = topic_name;
   }
+  status = topic_writer->get_qos(datawriter_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("topic_writer can't get data reader qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datawriter_qos, &actual_qos_profile);
   node_info->publisher_listener->add_information(
     node_info->participant->get_instance_handle(),
     dds_publisher->get_instance_handle(),
     mangled_name,
     type_name,
+    actual_qos_profile,
     EntityType::Publisher);
   node_info->publisher_listener->trigger_graph_guard_condition();
 

rmw_connext_cpp/src/rmw_service.cpp

@@ -90,6 +90,7 @@ rmw_create_service(
   ConnextStaticServiceInfo * service_info = nullptr;
   rmw_service_t * service = nullptr;
   std::string mangled_name = "";
+  rmw_qos_profile_t actual_qos_profile;
 
   // memory allocations for namespacing
   char * request_topic_str = nullptr;
@@ -164,7 +165,7 @@ rmw_create_service(
   dds_publisher = response_datawriter->get_publisher();
   status = participant->get_default_publisher_qos(publisher_qos);
   if (status != DDS::RETCODE_OK) {
-    RMW_SET_ERROR_MSG("failed to get default subscriber qos");
+    RMW_SET_ERROR_MSG("failed to get default publisher qos");
     goto fail;
   }
 
@@ -197,23 +198,35 @@ rmw_create_service(
   }
   memcpy(const_cast<char *>(service->service_name), service_name, strlen(service_name) + 1);
 
-  mangled_name =
-    request_datareader->get_topicdescription()->get_name();
+  mangled_name = request_datareader->get_topicdescription()->get_name();
+  status = request_datareader->get_qos(datareader_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("request_datareader can't get data reader qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datareader_qos, &actual_qos_profile);
   node_info->subscriber_listener->add_information(
     node_info->participant->get_instance_handle(),
     request_datareader->get_instance_handle(),
     mangled_name,
     request_datareader->get_topicdescription()->get_type_name(),
+    actual_qos_profile,
     EntityType::Subscriber);
   node_info->subscriber_listener->trigger_graph_guard_condition();
 
-  mangled_name =
-    response_datawriter->get_topic()->get_name();
+  mangled_name = response_datawriter->get_topic()->get_name();
+  status = response_datawriter->get_qos(datawriter_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("response_datawriter can't get data writer qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datawriter_qos, &actual_qos_profile);
   node_info->publisher_listener->add_information(
     node_info->participant->get_instance_handle(),
     response_datawriter->get_instance_handle(),
     mangled_name,
     response_datawriter->get_topic()->get_type_name(),
+    actual_qos_profile,
     EntityType::Publisher);
   node_info->publisher_listener->trigger_graph_guard_condition();
 

rmw_connext_cpp/src/rmw_subscription.cpp

@@ -124,6 +124,7 @@ rmw_create_subscription(
   ConnextStaticSubscriberInfo * subscriber_info = nullptr;
   rmw_subscription_t * subscription = nullptr;
   std::string mangled_name;
+  rmw_qos_profile_t actual_qos_profile;
 
   char * topic_str = nullptr;
 
@@ -262,16 +263,22 @@ rmw_create_subscription(
   subscription->options = *subscription_options;
 
   if (!qos_profile->avoid_ros_namespace_conventions) {
-    mangled_name =
-      topic_reader->get_topicdescription()->get_name();
+    mangled_name = topic_reader->get_topicdescription()->get_name();
   } else {
     mangled_name = topic_name;
   }
+  status = topic_reader->get_qos(datareader_qos);
+  if (DDS::RETCODE_OK != status) {
+    RMW_SET_ERROR_MSG("topic_reader can't get data reader qos policies");
+    goto fail;
+  }
+  dds_qos_to_rmw_qos(datareader_qos, &actual_qos_profile);
   node_info->subscriber_listener->add_information(
     node_info->participant->get_instance_handle(),
     dds_subscriber->get_instance_handle(),
     mangled_name,
     type_name,
+    actual_qos_profile,
     EntityType::Subscriber);
   node_info->subscriber_listener->trigger_graph_guard_condition();
 

rmw_connext_shared_cpp/CMakeLists.txt

@@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
 find_package(connext_cmake_module REQUIRED)
 find_package(Connext QUIET MODULE)
 if(Connext_FOUND)
@@ -76,6 +76,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rmw_INCLUDE_DIRS})
   ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
 endif()
 
 ament_package(

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/qos.hpp

@@ -57,4 +57,22 @@ dds_qos_to_rmw_qos<DDS::DataReaderQos>(
   const DDS::DataReaderQos & dds_qos,
   rmw_qos_profile_t * qos);
 
+template<typename AttributeT>
+void
+dds_remote_qos_to_rmw_qos(
+  const AttributeT & dds_qos,
+  rmw_qos_profile_t * qos);
+
+extern template RMW_CONNEXT_SHARED_CPP_PUBLIC
+void
+dds_remote_qos_to_rmw_qos<DDS::PublicationBuiltinTopicData>(
+  const DDS::PublicationBuiltinTopicData & dds_qos,
+  rmw_qos_profile_t * qos);
+
+extern template RMW_CONNEXT_SHARED_CPP_PUBLIC
+void
+dds_remote_qos_to_rmw_qos<DDS::SubscriptionBuiltinTopicData>(
+  const DDS::SubscriptionBuiltinTopicData & dds_qos,
+  rmw_qos_profile_t * qos);
+
 #endif  // RMW_CONNEXT_SHARED_CPP__QOS_HPP_