Add node graph interface for information by node

Author: ross-desmond

rmw/include/rmw/get_node_info_and_types.h

@@ -0,0 +1,117 @@
+//
+// Created by Ross Desmond on 10/30/18.
+//
+
+#ifndef RMW_GET_NODE_INFO_AND_TYPES_H
+#define RMW_GET_NODE_INFO_AND_TYPES_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rmw/macros.h"
+#include "rmw/names_and_types.h"
+#include "rmw/types.h"
+#include "rmw/visibility_control.h"
+
+/// Return a list of subscribed topic names and their types.
+/**
+ * This function returns a list of subscribed topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[out] topic_names_and_types list of topic names and their types the node_name is subscribed to
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+        RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_subscription_names_and_types_by_node(
+        const rmw_node_t * node,
+        rcutils_allocator_t * allocator,
+        const char * node_name,
+        rmw_names_and_types_t * topics_names_and_types);
+
+/// Return a list of published topic names and their types.
+/**
+ * This function returns a list of published topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[out] topic_names_and_types list of topic names and their types the node_name is publishing
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+        RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_publisher_names_and_types_by_node(
+        const rmw_node_t * node,
+        rcutils_allocator_t * allocator,
+        const char * node_name,
+        rmw_names_and_types_t * topic_names_and_types);
+
+/// Return a list of service topic names and their types.
+/**
+ * This function returns a list of service topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[out] topic_names_and_types list of topic names and their types the node_name has created a service for
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+        RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_service_names_and_types_by_node(
+        const rmw_node_t * node,
+        rcutils_allocator_t * allocator,
+        const char * node_name,
+        rmw_names_and_types_t * service_names_and_types);
+
+#ifdef __cplusplus
+}
+#endif
+#endif //RMW_GET_NODE_INFO_AND_TYPES_H