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provide API to retrieve topic information

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This commit is contained in:
Dirk Thomas 2015-08-01 18:52:34 -07:00
parent 44c296f7ab
commit c2c275b78e
2 changed files with 67 additions and 0 deletions
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6
rclcpp/include/rclcpp/node.hpp
View file

@ -188,6 +188,12 @@ public:
rcl_interfaces::msg::ListParametersResult list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth) const;
std::map<std::string, std::string> get_topic_names_and_types() const;
size_t count_publishers(const std::string & topic_name) const;
size_t count_subscribers(const std::string & topic_name) const;
private:
RCLCPP_DISABLE_COPY(Node);

61
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -426,4 +426,65 @@ Node::list_parameters(
}
return result;
}
std::map<std::string, std::string>
Node::get_topic_names_and_types() const
{
rmw_topic_names_and_types_t topic_names_and_types;
topic_names_and_types.topic_count = 0;
topic_names_and_types.topic_names = nullptr;
topic_names_and_types.type_names = nullptr;
auto ret = rmw_get_topic_names_and_types(node_handle_.get(), &topic_names_and_types);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not get topic names and types: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
std::map<std::string, std::string> topics;
for (size_t i = 0; i < topic_names_and_types.topic_count; ++i) {
topics[topic_names_and_types.topic_names[i]] = topic_names_and_types.type_names[i];
}
ret = rmw_destroy_topic_names_and_types(&topic_names_and_types);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not destroy topic names and types: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
return topics;
}
size_t
Node::count_publishers(const std::string & topic_name) const
{
size_t count;
auto ret = rmw_count_publishers(node_handle_.get(), topic_name.c_str(), &count);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not count publishers: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
return count;
}
size_t
Node::count_subscribers(const std::string & topic_name) const
{
size_t count;
auto ret = rmw_count_subscribers(node_handle_.get(), topic_name.c_str(), &count);
if (ret != RMW_RET_OK) {
// *INDENT-OFF*
throw std::runtime_error(
std::string("could not count subscribers: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
return count;
}
#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */