node_graph_interface.hpp

// Copyright 2016-2017 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 RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
 
#include <algorithm>
#include <array>
#include <chrono>
#include <cstddef>
#include <cstdint>
#include <map>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
 
#include "rcl/graph.h"
#include "rcl/guard_condition.h"
 
#include "rclcpp/event.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
 
enum class EndpointType
{
  Invalid = RMW_ENDPOINT_INVALID,
  Publisher = RMW_ENDPOINT_PUBLISHER,
  Subscription = RMW_ENDPOINT_SUBSCRIPTION,
  Client = RMW_ENDPOINT_CLIENT,
  Server = RMW_ENDPOINT_SERVER
};
 
class TopicEndpointInfo
{
public:
  RCLCPP_PUBLIC
  explicit TopicEndpointInfo(const rcl_topic_endpoint_info_t & info)
  : endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile),
    topic_type_hash_(info.topic_type_hash)
  {
    if (!info.node_name || !info.node_namespace || !info.topic_type) {
      throw std::invalid_argument("Constructor TopicEndpointInfo with invalid topic endpoint info");
    }
    node_name_ = info.node_name;
    node_namespace_ = info.node_namespace;
    topic_type_ = info.topic_type;
 
    std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
  }
 
  RCLCPP_PUBLIC
  std::string &
  node_name();
 
  RCLCPP_PUBLIC
  const std::string &
  node_name() const;
 
  RCLCPP_PUBLIC
  std::string &
  node_namespace();
 
  RCLCPP_PUBLIC
  const std::string &
  node_namespace() const;
 
  RCLCPP_PUBLIC
  std::string &
  topic_type();
 
  RCLCPP_PUBLIC
  const std::string &
  topic_type() const;
 
  RCLCPP_PUBLIC
  rclcpp::EndpointType &
  endpoint_type();
 
  RCLCPP_PUBLIC
  const rclcpp::EndpointType &
  endpoint_type() const;
 
  RCLCPP_PUBLIC
  std::array<uint8_t, RMW_GID_STORAGE_SIZE> &
  endpoint_gid();
 
  RCLCPP_PUBLIC
  const std::array<uint8_t, RMW_GID_STORAGE_SIZE> &
  endpoint_gid() const;
 
  RCLCPP_PUBLIC
  rclcpp::QoS &
  qos_profile();
 
  RCLCPP_PUBLIC
  const rclcpp::QoS &
  qos_profile() const;
 
  RCLCPP_PUBLIC
  rosidl_type_hash_t &
  topic_type_hash();
 
  RCLCPP_PUBLIC
  const rosidl_type_hash_t &
  topic_type_hash() const;
 
private:
  std::string node_name_;
  std::string node_namespace_;
  std::string topic_type_;
  rclcpp::EndpointType endpoint_type_;
  std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
  rclcpp::QoS qos_profile_;
  rosidl_type_hash_t topic_type_hash_;
};
 
class ServiceEndpointInfo
{
public:
  RCLCPP_PUBLIC
  explicit ServiceEndpointInfo(const rcl_service_endpoint_info_t & info)
  : node_name_(info.node_name),
    node_namespace_(info.node_namespace),
    service_type_(info.service_type),
    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
    service_type_hash_(info.service_type_hash),
    endpoint_count_(info.endpoint_count)
  {
    for(size_t i = 0; i < endpoint_count_; i++) {
      std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid;
      std::copy(info.endpoint_gids[i], info.endpoint_gids[i] + RMW_GID_STORAGE_SIZE, gid.begin());
      endpoint_gids_.push_back(gid);
 
      rclcpp::QoS qos(
        {info.qos_profiles[i].history, info.qos_profiles[i].depth}, info.qos_profiles[i]);
      qos_profiles_.push_back(qos);
    }
  }
 
  RCLCPP_PUBLIC
  std::string &
  node_name();
 
  RCLCPP_PUBLIC
  const std::string &
  node_name() const;
 
  RCLCPP_PUBLIC
  std::string &
  node_namespace();
 
  RCLCPP_PUBLIC
  const std::string &
  node_namespace() const;
 
  RCLCPP_PUBLIC
  std::string &
  service_type();
 
  RCLCPP_PUBLIC
  const std::string &
  service_type() const;
 
  RCLCPP_PUBLIC
  rclcpp::EndpointType &
  endpoint_type();
 
  RCLCPP_PUBLIC
  const rclcpp::EndpointType &
  endpoint_type() const;
 
  RCLCPP_PUBLIC
  size_t &
  endpoint_count();
 
  RCLCPP_PUBLIC
  const size_t &
  endpoint_count() const;
 
  RCLCPP_PUBLIC
  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
  endpoint_gids();
 
  RCLCPP_PUBLIC
  const std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
  endpoint_gids() const;
 
  RCLCPP_PUBLIC
  std::vector<rclcpp::QoS> &
  qos_profiles();
 
  RCLCPP_PUBLIC
  const std::vector<rclcpp::QoS> &
  qos_profiles() const;
 
  RCLCPP_PUBLIC
  rosidl_type_hash_t &
  service_type_hash();
 
  RCLCPP_PUBLIC
  const rosidl_type_hash_t &
  service_type_hash() const;
 
private:
  std::string node_name_;
  std::string node_namespace_;
  std::string service_type_;
  rclcpp::EndpointType endpoint_type_;
  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> endpoint_gids_;
  std::vector<rclcpp::QoS> qos_profiles_;
  rosidl_type_hash_t service_type_hash_;
  size_t endpoint_count_;
};
 
namespace node_interfaces
{
 
class NodeGraphInterface
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeGraphInterface)
 
  RCLCPP_PUBLIC
  virtual
  ~NodeGraphInterface() = default;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_topic_names_and_types(bool no_demangle = false) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_client_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_publisher_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_,
    bool no_demangle = false) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::map<std::string, std::vector<std::string>>
  get_subscriber_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_,
    bool no_demangle = false) const = 0;
 
  /*
   * The returned names are the actual names after remap rules applied.
   */
  RCLCPP_PUBLIC
  virtual
  std::vector<std::string>
  get_node_names() const = 0;
 
  /*
   * The returned names are the actual names after remap rules applied.
   * The enclaves contain the runtime security artifacts, those can be
   * used to establish secured network.
   * See https://design.ros2.org/articles/ros2_security_enclaves.html
   */
  RCLCPP_PUBLIC
  virtual
  std::vector<std::tuple<std::string, std::string, std::string>>
  get_node_names_with_enclaves() const = 0;
 
  /*
   * The returned names are the actual names after remap rules applied.
   */
  RCLCPP_PUBLIC
  virtual
  std::vector<std::pair<std::string, std::string>>
  get_node_names_and_namespaces() const = 0;
 
  /*
   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
   */
  RCLCPP_PUBLIC
  virtual
  size_t
  count_publishers(const std::string & topic_name) const = 0;
 
  /*
   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
   */
  RCLCPP_PUBLIC
  virtual
  size_t
  count_subscribers(const std::string & topic_name) const = 0;
 
  /*
   * \param[in] service_name the actual service name used; it will not be automatically remapped.
   */
  RCLCPP_PUBLIC
  virtual
  size_t
  count_clients(const std::string & service_name) const = 0;
 
  /*
   * \param[in] service_name the actual service name used; it will not be automatically remapped.
   */
  RCLCPP_PUBLIC
  virtual
  size_t
  count_services(const std::string & service_name) const = 0;
 
  RCLCPP_PUBLIC
  virtual
  const rcl_guard_condition_t *
  get_graph_guard_condition() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  notify_graph_change() = 0;
 
  RCLCPP_PUBLIC
  virtual
  void
  notify_shutdown() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::Event::SharedPtr
  get_graph_event() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  wait_for_graph_change(
    rclcpp::Event::SharedPtr event,
    std::chrono::nanoseconds timeout) = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  count_graph_users() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::vector<rclcpp::TopicEndpointInfo>
  get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::vector<rclcpp::TopicEndpointInfo>
  get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::vector<rclcpp::ServiceEndpointInfo>
  get_clients_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::vector<rclcpp::ServiceEndpointInfo>
  get_servers_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
};
 
}  // namespace node_interfaces
}  // namespace rclcpp
 
RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeGraphInterface, graph)
 
#endif  // RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_