Expose more native handles

rmw_fastrtps_cpp/CMakeLists.txt

@@ -52,7 +52,11 @@ include_directories(include)
 add_library(rmw_fastrtps_cpp
   src/client_service_common.cpp
   src/demangle.cpp
+  src/get_client.cpp
   src/get_participant.cpp
+  src/get_publisher.cpp
+  src/get_service.cpp
+  src/get_subscriber.cpp
   src/identifier.cpp
   src/namespace_prefix.cpp
   src/qos.cpp

rmw_fastrtps_cpp/src/types/custom_client_info.hpp → rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_client_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TYPES__CUSTOM_CLIENT_INFO_HPP_
-#define TYPES__CUSTOM_CLIENT_INFO_HPP_
+#ifndef RMW_FASTRTPS_CPP__CUSTOM_CLIENT_INFO_HPP_
+#define RMW_FASTRTPS_CPP__CUSTOM_CLIENT_INFO_HPP_
 
 #include <atomic>
 #include <list>
@@ -142,4 +142,4 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
   std::condition_variable * conditionVariable_;
 };
 
-#endif  // TYPES__CUSTOM_CLIENT_INFO_HPP_
+#endif  // RMW_FASTRTPS_CPP__CUSTOM_CLIENT_INFO_HPP_

rmw_fastrtps_cpp/src/types/custom_publisher_info.hpp → rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_publisher_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TYPES__CUSTOM_PUBLISHER_INFO_HPP_
-#define TYPES__CUSTOM_PUBLISHER_INFO_HPP_
+#ifndef RMW_FASTRTPS_CPP__CUSTOM_PUBLISHER_INFO_HPP_
+#define RMW_FASTRTPS_CPP__CUSTOM_PUBLISHER_INFO_HPP_
 
 #include "fastrtps/publisher/Publisher.h"
 
@@ -27,4 +27,4 @@ typedef struct CustomPublisherInfo
   const char * typesupport_identifier_;
 } CustomPublisherInfo;
 
-#endif  // TYPES__CUSTOM_PUBLISHER_INFO_HPP_
+#endif  // RMW_FASTRTPS_CPP__CUSTOM_PUBLISHER_INFO_HPP_

rmw_fastrtps_cpp/src/types/custom_service_info.hpp → rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_service_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TYPES__CUSTOM_SERVICE_INFO_HPP_
-#define TYPES__CUSTOM_SERVICE_INFO_HPP_
+#ifndef RMW_FASTRTPS_CPP__CUSTOM_SERVICE_INFO_HPP_
+#define RMW_FASTRTPS_CPP__CUSTOM_SERVICE_INFO_HPP_
 
 #include <atomic>
 #include <list>
@@ -143,4 +143,4 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
   std::condition_variable * conditionVariable_;
 };
 
-#endif  // TYPES__CUSTOM_SERVICE_INFO_HPP_
+#endif  // RMW_FASTRTPS_CPP__CUSTOM_SERVICE_INFO_HPP_

rmw_fastrtps_cpp/src/types/custom_subscriber_info.hpp → rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_subscriber_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TYPES__CUSTOM_SUBSCRIBER_INFO_HPP_
-#define TYPES__CUSTOM_SUBSCRIBER_INFO_HPP_
+#ifndef RMW_FASTRTPS_CPP__CUSTOM_SUBSCRIBER_INFO_HPP_
+#define RMW_FASTRTPS_CPP__CUSTOM_SUBSCRIBER_INFO_HPP_
 
 #include <condition_variable>
 #include <mutex>
@@ -109,4 +109,4 @@ class SubListener : public eprosima::fastrtps::SubscriberListener
   std::condition_variable * conditionVariable_;
 };
 
-#endif  // TYPES__CUSTOM_SUBSCRIBER_INFO_HPP_
+#endif  // RMW_FASTRTPS_CPP__CUSTOM_SUBSCRIBER_INFO_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_client.hpp

@@ -0,0 +1,50 @@
+// Copyright 2017 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.
+
+#ifndef RMW_FASTRTPS_CPP__GET_CLIENT_HPP_
+#define RMW_FASTRTPS_CPP__GET_CLIENT_HPP_
+
+#include "fastrtps/publisher/Publisher.h"
+#include "fastrtps/subscriber/Subscriber.h"
+#include "rmw/rmw.h"
+#include "rmw_fastrtps_cpp/visibility_control.h"
+
+namespace rmw_fastrtps_cpp
+{
+
+/// Return a native FastRTPS publisher handle for the request.
+/**
+ * The function returns `NULL` when either the client handle is `NULL` or
+ * when the client handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Publisher *
+get_request_publisher(rmw_client_t * client);
+
+/// Return a native FastRTPS subscriber handle for the response.
+/**
+ * The function returns `NULL` when either the client handle is `NULL` or
+ * when the client handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Subscriber *
+get_response_subscriber(rmw_client_t * client);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__GET_CLIENT_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp

@@ -24,7 +24,7 @@ namespace rmw_fastrtps_cpp
 
 /// Return a native FastRTPS participant handle.
 /**
- * The function return `NULL` when either the node handle is `NULL` or when the
+ * The function returns `NULL` when either the node handle is `NULL` or when the
  * node handle is from a different rmw implementation.
  *
  * \return native FastRTPS participant handle if successful, otherwise `NULL`

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_publisher.hpp

@@ -0,0 +1,38 @@
+// Copyright 2017 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.
+
+#ifndef RMW_FASTRTPS_CPP__GET_PUBLISHER_HPP_
+#define RMW_FASTRTPS_CPP__GET_PUBLISHER_HPP_
+
+#include "fastrtps/publisher/Publisher.h"
+#include "rmw/rmw.h"
+#include "rmw_fastrtps_cpp/visibility_control.h"
+
+namespace rmw_fastrtps_cpp
+{
+
+/// Return a native FastRTPS publisher handle.
+/**
+ * The function returns `NULL` when either the publisher handle is `NULL` or
+ * when the publisher handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Publisher *
+get_publisher(rmw_publisher_t * publisher);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__GET_PUBLISHER_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_service.hpp

@@ -0,0 +1,50 @@
+// Copyright 2017 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.
+
+#ifndef RMW_FASTRTPS_CPP__GET_SERVICE_HPP_
+#define RMW_FASTRTPS_CPP__GET_SERVICE_HPP_
+
+#include "fastrtps/publisher/Publisher.h"
+#include "fastrtps/subscriber/Subscriber.h"
+#include "rmw/rmw.h"
+#include "rmw_fastrtps_cpp/visibility_control.h"
+
+namespace rmw_fastrtps_cpp
+{
+
+/// Return a native FastRTPS subscriber handle for the request.
+/**
+ * The function returns `NULL` when either the service handle is `NULL` or
+ * when the service handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Subscriber *
+get_request_subscriber(rmw_service_t * service);
+
+/// Return a native FastRTPS publisher handle for the response.
+/**
+ * The function returns `NULL` when either the service handle is `NULL` or
+ * when the service handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Publisher *
+get_response_publisher(rmw_service_t * service);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__GET_SERVICE_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp

@@ -0,0 +1,38 @@
+// Copyright 2017 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.
+
+#ifndef RMW_FASTRTPS_CPP__GET_SUBSCRIBER_HPP_
+#define RMW_FASTRTPS_CPP__GET_SUBSCRIBER_HPP_
+
+#include "fastrtps/subscriber/Subscriber.h"
+#include "rmw/rmw.h"
+#include "rmw_fastrtps_cpp/visibility_control.h"
+
+namespace rmw_fastrtps_cpp
+{
+
+/// Return a native FastRTPS subscriber handle.
+/**
+ * The function returns `NULL` when either the subscription handle is `NULL` or
+ * when the subscription handle is from a different rmw implementation.
+ *
+ * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ */
+RMW_FASTRTPS_CPP_PUBLIC
+eprosima::fastrtps::Subscriber *
+get_subscriber(rmw_subscription_t * subscription);
+
+}  // namespace rmw_fastrtps_cpp
+
+#endif  // RMW_FASTRTPS_CPP__GET_SUBSCRIBER_HPP_

rmw_fastrtps_cpp/src/get_client.cpp

@@ -0,0 +1,49 @@
+// Copyright 2017 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_fastrtps_cpp/get_client.hpp"
+
+#include "rmw_fastrtps_cpp/custom_client_info.hpp"
+#include "rmw_fastrtps_cpp/identifier.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+eprosima::fastrtps::Publisher *
+get_request_publisher(rmw_client_t * client)
+{
+  if (!client) {
+    return NULL;
+  }
+  if (client->implementation_identifier != eprosima_fastrtps_identifier) {
+    return NULL;
+  }
+  CustomClientInfo * impl = static_cast<CustomClientInfo *>(client->data);
+  return impl->request_publisher_;
+}
+
+eprosima::fastrtps::Subscriber *
+get_response_subscriber(rmw_client_t * client)
+{
+  if (!client) {
+    return NULL;
+  }
+  if (client->implementation_identifier != eprosima_fastrtps_identifier) {
+    return NULL;
+  }
+  CustomClientInfo * impl = static_cast<CustomClientInfo *>(client->data);
+  return impl->response_subscriber_;
+}
+
+}  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/get_publisher.cpp

@@ -0,0 +1,36 @@
+// Copyright 2017 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_fastrtps_cpp/get_publisher.hpp"
+
+#include "rmw_fastrtps_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_cpp/identifier.hpp"
+
+namespace rmw_fastrtps_cpp
+{
+
+eprosima::fastrtps::Publisher *
+get_publisher(rmw_publisher_t * publisher)
+{
+  if (!publisher) {
+    return NULL;
+  }
+  if (publisher->implementation_identifier != eprosima_fastrtps_identifier) {
+    return NULL;
+  }
+  CustomPublisherInfo * impl = static_cast<CustomPublisherInfo *>(publisher->data);
+  return impl->publisher_;
+}
+
+}  // namespace rmw_fastrtps_cpp