Add getServiceNamesAndTypes method to Node class

rcljava/include/org_ros2_rcljava_node_NodeImpl.h

@@ -155,6 +155,15 @@ JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode(
   JNIEnv *, jclass, jlong, jstring, jstring, jobject);
 
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeServiceNamesAndTypesByNode
+ * Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/util/Collection;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypesByNode(
+  JNIEnv *, jclass, jlong, jstring, jstring, jobject);
+
 #ifdef __cplusplus
 }
 #endif

rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp

@@ -575,3 +575,39 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode(
   RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get subscription names and types");
   fill_jnames_and_types(env, subscription_names_and_types, jnames_and_types);
 }
+
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypesByNode(
+  JNIEnv * env, jclass, jlong handle, jstring jname, jstring jnamespace, jobject jnames_and_types)
+{
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
+  if (!node) {
+    rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL");
+    return;
+  }
+
+  const char * name = env->GetStringUTFChars(jname, NULL);
+  auto release_jname = rcpputils::make_scope_exit(
+    [jname, name, env]() {env->ReleaseStringUTFChars(jname, name);});
+  const char * namespace_ = env->GetStringUTFChars(jnamespace, NULL);
+  auto release_jnamespace = rcpputils::make_scope_exit(
+    [jnamespace, namespace_, env]() {env->ReleaseStringUTFChars(jnamespace, namespace_);});
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_names_and_types_t service_names_and_types = rcl_get_zero_initialized_names_and_types();
+  auto fini_names_and_types = rcpputils::make_scope_exit(
+    [pnames_and_types = &service_names_and_types, env]() {
+      rcl_ret_t ret = rcl_names_and_types_fini(pnames_and_types);
+      if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+        rcljava_throw_rclexception(
+          env, ret, "failed to fini service names and types structure");
+      }
+    });
+
+  rcl_ret_t ret = rcl_get_service_names_and_types_by_node(
+    node,
+    &allocator,
+    name,
+    namespace_,
+    &service_names_and_types);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get service names and types");
+  fill_jnames_and_types(env, service_names_and_types, jnames_and_types);
+}

rcljava/src/main/java/org/ros2/rcljava/node/Node.java

@@ -649,4 +649,16 @@ <T extends ServiceDefinition> Client<T> createClient(final Class<T> serviceType,
    */
   Collection<NameAndTypes> getSubscriptionNamesAndTypesByNode(
     String nodeName, String nodeNamespace);
+
+  /**
+   * Return the service server names and types that were created from the node specified by the
+   * given node name and namespace.
+   * See @{link graph#NameAndTypes} for more information about the returned value.
+   *
+   * @param nodeName name of the node we want to know its services.
+   * @param nodeNamespace namespace of the node we want to know its services.
+   * @return the detected service server names and types.
+   */
+  Collection<NameAndTypes> getServiceNamesAndTypesByNode(
+    String nodeName, String nodeNamespace);
 }

rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java

@@ -838,4 +838,15 @@ public final Collection<NameAndTypes> getSubscriptionNamesAndTypesByNode(
 
   private static native final Collection<NameAndTypes> nativeGetSubscriptionNamesAndTypesByNode(
     long handle, String nodeName, String nodeNamespace, Collection<NameAndTypes> namesAndTypes);
+
+  public final Collection<NameAndTypes> getServiceNamesAndTypesByNode(
+    String nodeName, String nodeNamespace)
+  {
+    Collection<NameAndTypes> namesAndTypes = new ArrayList();
+    nativeGetServiceNamesAndTypesByNode(this.handle, nodeName, nodeNamespace, namesAndTypes);
+    return namesAndTypes;
+  }
+
+  private static native final Collection<NameAndTypes> nativeGetServiceNamesAndTypesByNode(
+    long handle, String nodeName, String nodeNamespace, Collection<NameAndTypes> namesAndTypes);
 }

rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java

@@ -1354,4 +1354,122 @@ public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes
     publisher.dispose();
     remoteNode.dispose();
   }
+
+  @Test
+  public final void testGetServiceNamesAndTypesByNode() throws Exception {
+    final Node remoteNode = RCLJava.createNode("test_get_service_names_and_types_remote_node");
+    Service<rcljava.srv.AddTwoInts> service1 = node.<rcljava.srv.AddTwoInts>createService(
+      rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_one",
+      new TriConsumer<
+        RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>()
+      {
+        public final void accept(
+          final RMWRequestId header,
+          final rcljava.srv.AddTwoInts_Request request,
+          final rcljava.srv.AddTwoInts_Response response)
+        {}
+      });
+    Service<rcljava.srv.AddTwoInts> service2 = node.<rcljava.srv.AddTwoInts>createService(
+      rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_two",
+      new TriConsumer<
+        RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>()
+      {
+        public final void accept(
+          final RMWRequestId header,
+          final rcljava.srv.AddTwoInts_Request request,
+          final rcljava.srv.AddTwoInts_Response response)
+        {}
+      });
+    Service<rcljava.srv.AddTwoInts> service3 = remoteNode.<rcljava.srv.AddTwoInts>createService(
+      rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_two",
+      new TriConsumer<
+        RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>()
+      {
+        public final void accept(
+          final RMWRequestId header,
+          final rcljava.srv.AddTwoInts_Request request,
+          final rcljava.srv.AddTwoInts_Response response)
+        {}
+      });
+    Service<rcljava.srv.AddTwoInts> service4 = remoteNode.<rcljava.srv.AddTwoInts>createService(
+      rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_three",
+      new TriConsumer<
+        RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>()
+      {
+        public final void accept(
+          final RMWRequestId header,
+          final rcljava.srv.AddTwoInts_Request request,
+          final rcljava.srv.AddTwoInts_Response response)
+        {}
+      });
+    Client<rcljava.srv.AddTwoInts> client = node.<rcljava.srv.AddTwoInts>createClient(
+      rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_this_should_not_appear");
+
+    BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>> validateNameAndTypes =
+    new BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>>() {
+      public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes> remote) {
+        // TODO(ivanpauno): Using assertj may help a lot here https://assertj.github.io/doc/.
+        assertEquals(local.size(), 2);
+        assertTrue(
+          "service 'test_get_service_names_and_types_one' was not discovered for local node",
+          local.contains(
+            new NameAndTypes(
+              "/test_get_service_names_and_types_one",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+        assertTrue(
+          "service 'test_get_service_names_and_types_two' was not discovered for local node",
+          local.contains(
+            new NameAndTypes(
+              "/test_get_service_names_and_types_two",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+
+        assertEquals(remote.size(), 2);
+        assertTrue(
+          "service 'test_get_service_names_and_types_two' was not discovered for remote node",
+          remote.contains(
+            new NameAndTypes(
+              "/test_get_service_names_and_types_two",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+        assertTrue(
+          "service 'test_get_service_names_and_types_three' was not discovered for remote node",
+          remote.contains(
+            new NameAndTypes(
+              "/test_get_service_names_and_types_three",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<NameAndTypes> local = null;
+    Collection<NameAndTypes> remote = null;
+    do {
+      local = this.node.getServiceNamesAndTypesByNode("test_node", "/");
+      remote = this.node.getServiceNamesAndTypesByNode(
+        "test_get_service_names_and_types_remote_node", "/");
+      try {
+        validateNameAndTypes.accept(local, remote);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(local);
+    assertNotNull(remote);
+    validateNameAndTypes.accept(local, remote);
+
+    service1.dispose();
+    service2.dispose();
+    service3.dispose();
+    service4.dispose();
+    client.dispose();
+    remoteNode.dispose();
+  }
 }