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Change rmw_count_publishers API, to rcl equivalent rcl_count_publishe… (#425)

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* Change rmw_count_publishers API, to rcl equivalent rcl_count_publishers and remove the TODO line.

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* Remove rmw_handle and refer to rcl_node_handle, change the API signature to topic_names.

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* Use rcl_* specific functions to derive the fully qualified topic name.

Signed-off-by: Sriram Raghunathan <rsriram7@visteon.com>

* [nitpick] remove unnecessary variable storage
This commit is contained in:
Sriram Raghunathan 2017-12-20 09:15:58 +05:30 • committed by dhood
parent 199a26984d
commit 2bf688827b
1 changed files with 10 additions and 10 deletions
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20
rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
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@ -166,16 +166,16 @@ NodeGraph::get_node_names() const
size_t size_t
NodeGraph::count_publishers(const std::string & topic_name) const NodeGraph::count_publishers(const std::string & topic_name) const
{ {
auto rmw_node_handle = rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle()); auto rcl_node_handle = node_base_->get_rcl_node_handle();
auto fqdn = rclcpp::expand_topic_or_service_name( auto fqdn = rclcpp::expand_topic_or_service_name(
topic_name, topic_name,
rmw_node_handle->name, rcl_node_get_name(rcl_node_handle),
rmw_node_handle->namespace_, rcl_node_get_namespace(rcl_node_handle),
false); // false = not a service false); // false = not a service
size_t count; size_t count;
// TODO(wjwwood): use the rcl equivalent methods auto ret = rcl_count_publishers(rcl_node_handle, fqdn.c_str(), &count);
auto ret = rmw_count_publishers(rmw_node_handle, fqdn.c_str(), &count);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
// *INDENT-OFF* // *INDENT-OFF*
throw std::runtime_error( throw std::runtime_error(
@ -188,16 +188,16 @@ NodeGraph::count_publishers(const std::string & topic_name) const
size_t size_t
NodeGraph::count_subscribers(const std::string & topic_name) const NodeGraph::count_subscribers(const std::string & topic_name) const
{ {
auto rmw_node_handle = rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle()); auto rcl_node_handle = node_base_->get_rcl_node_handle();
auto fqdn = rclcpp::expand_topic_or_service_name( auto fqdn = rclcpp::expand_topic_or_service_name(
topic_name, topic_name,
rmw_node_handle->name, rcl_node_get_name(rcl_node_handle),
rmw_node_handle->namespace_, rcl_node_get_namespace(rcl_node_handle),
false); // false = not a service false); // false = not a service
size_t count; size_t count;
// TODO(wjwwood): use the rcl equivalent methods auto ret = rcl_count_subscribers(rcl_node_handle, fqdn.c_str(), &count);
auto ret = rmw_count_subscribers(rmw_node_handle, fqdn.c_str(), &count);
if (ret != RMW_RET_OK) { if (ret != RMW_RET_OK) {
// *INDENT-OFF* // *INDENT-OFF*
throw std::runtime_error( throw std::runtime_error(