add : get clients, servers info #2569
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Dependencies |
rclcpp/include/rclcpp/node.hpp
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| * \throws std::runtime_error if internal error happens. | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| std::vector<rclcpp::TopicEndpointInfo> |
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almost same comment for rclpy.
probably we can extend EndpointType with service server and client as endpoint types.
and introduce new base class EndpointInfo, and based on that we could have TopicEndpointInfo and ServiceEndpointInfo classes here?
| FunctionT rcl_get_info_by_topic) | ||
| bool is_service, | ||
| FunctionT rcl_get_info_by_topic_or_service) |
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can we extend this function to support endpoint based on EndpointTypes with topics, services (and actions in the future?) there is already the template based on EndpointTypes so extend EndpointTypes with service types makes this function more generic like get_info_by_endpoint?
rclcpp/test/rclcpp/test_node.cpp
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| EXPECT_TRUE(node->get_clients_info_by_service(fq_service_name).empty()); | ||
| EXPECT_TRUE(node->get_servers_info_by_service(fq_service_name).empty()); | ||
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| // Add a publisher |
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nit:
| // Add a publisher | |
| // Add a client |
rclcpp/test/rclcpp/test_node.cpp
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| auto client = node->create_client<test_msgs::srv::Empty>(service_name, qos); | ||
| // Wait for the underlying RMW implementation to catch up with graph changes | ||
| auto client_is_generated = | ||
| [&]() {return node->get_clients_info_by_service(fq_service_name).size() > 0u;}; |
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| [&]() {return node->get_clients_info_by_service(fq_service_name).size() > 0u;}; | |
| [&]() {return node->get_clients_info_by_service(fq_service_name).size() == 1u;}; |
rclcpp/test/rclcpp/test_node.cpp
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| } | ||
| } | ||
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| // Add a subscription |
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nit:
| // Add a subscription | |
| // Add a service server |
rclcpp/test/rclcpp/test_node.cpp
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| auto server = node->create_service<test_msgs::srv::Empty>(service_name, callback, qos2); | ||
| // Wait for the underlying RMW implementation to catch up with graph changes | ||
| auto server_is_generated = | ||
| [&]() {return node->get_servers_info_by_service(fq_service_name).size() > 0u;}; |
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precisely this should be 1, right? is there any possibility that goes over 1?
| [&]() {return node->get_servers_info_by_service(fq_service_name).size() > 0u;}; | |
| [&]() {return node->get_servers_info_by_service(fq_service_name).size() == 1u;}; |
Signed-off-by: Minju, Lee <[email protected]>
leeminju531
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Signed-off-by: Minju, Lee <[email protected]>
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Pulls: ros2/rmw#371, ros2/rmw_implementation#238, ros2/rcl#1161, #2569, ros2/rclpy#1307, ros2/rmw_zenoh#679, ros2/rmw_fastrtps#771, ros2/rmw_cyclonedds#499, ros2/rmw_connextdds#154, ros2/ros2cli#916
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Add get clients, servers info
Refer to ros2/ros2cli#916