Add rmw_get_gid_for_client impl (#631)

* add rmw_get_gid_for_client impl

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>

* lint

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Assign implementation_identifier

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use existing guid copy function instead of std::copy

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>

rmw_fastrtps_cpp/CMakeLists.txt

@@ -64,6 +64,7 @@ add_library(rmw_fastrtps_cpp
   src/rmw_count.cpp
   src/rmw_event.cpp
   src/rmw_features.cpp
+  src/rmw_get_gid_for_client.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp

rmw_fastrtps_cpp/src/rmw_get_gid_for_client.cpp

@@ -0,0 +1,31 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+#include "rmw_fastrtps_cpp/identifier.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_gid_for_client(
+    eprosima_fastrtps_identifier, client, gid);
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -65,6 +65,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_count.cpp
   src/rmw_event.cpp
   src/rmw_features.cpp
+  src/rmw_get_gid_for_client.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_get_gid_for_client.cpp

@@ -0,0 +1,31 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_gid_for_client(
+    eprosima_fastrtps_identifier, client, gid);
+}
+}  // extern "C"

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -66,6 +66,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_event.cpp
   src/rmw_features.cpp
   src/rmw_get_endpoint_network_flow.cpp
+  src/rmw_get_gid_for_client.cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -67,6 +67,13 @@ __rmw_get_gid_for_publisher(
   const rmw_publisher_t * publisher,
   rmw_gid_t * gid);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_gid_for_client(
+  const char * identifier,
+  const rmw_client_t * client,
+  rmw_gid_t * gid);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_guard_condition_t *
 __rmw_create_guard_condition(const char * identifier);

rmw_fastrtps_shared_cpp/src/rmw_get_gid_for_client.cpp

@@ -0,0 +1,45 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+
+#include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
+#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+namespace rmw_fastrtps_shared_cpp
+{
+rmw_ret_t
+__rmw_get_gid_for_client(
+  const char * identifier,
+  const rmw_client_t * client,
+  rmw_gid_t * gid)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
+
+  const auto * info = static_cast<const CustomClientInfo *>(client->data);
+  copy_from_fastrtps_guid_to_byte_array(info->writer_guid_, gid->data);
+  gid->implementation_identifier = identifier;
+  return RMW_RET_OK;
+}
+}  // namespace rmw_fastrtps_shared_cpp