ros2 · ivanpauno · Jan 14, 2020 · Sep 27, 2019 · Sep 27, 2019 · Sep 27, 2019
diff --git a/rmw/include/rmw/get_topic_info.h b/rmw/include/rmw/get_topic_info.h
@@ -23,7 +23,7 @@ extern "C"
 #include "rmw/topic_info_array.h"
 #include "rmw/visibility_control.h"
 
-/// Retrieves the information for all publishers to a given topic.
+/// Retrieve the information for all publishers to a given topic.
 /**
  * The retrieved information will contain the publisher's node name, node namespace,
  * associated topic type, publisher gid and qos profile.
@@ -32,25 +32,24 @@ extern "C"
  *
  * The topic_name parameter must not be `NULL` and must follow the topic naming rules
  * mentioned at http://design.ros2.org/articles/topic_and_service_names.html
- * Non existent topic names are allowed.
+ * Names of non-existent topics are allowed.
  * In that case, this function will return an empty array.
 /// Determine if a given fully qualified topic name is valid. 
 /** Validity of a FQN for topic is determined based on rules defined here: 
  * 
  *   http://design.ros2.org/articles/topic_and_service_names.html 
  * 
  * Note that this function expects any URL suffixes as described in the above 
  * document to have already been removed. 
  * 
  * If either the C string or validation_result pointer are null, then 
  * `RMW_RET_INVALID_ARGUMENT` will be returned. 
  * The topic_name should be a valid, null-terminated C string. 
  * The validation_result int pointer should point to valid memory so a result 
  * can be stored in it as an output variable. 
  * The invalid_index size_t pointer should either point NULL or to valid memory 
  * so in the event of a validation error, the location in the input string can 
  * be stored therein. 
  * If NULL is passed in for invalid_index, it will be not be set. 
  * 
  * The invalid_index will not be assigned a value if the topic is valid. 
  * 
  * The int which validation_result points to will have a one of a few possible 
  * results values (defined with macros) stored into it: 
  * 
  * - RMW_TOPIC_VALID 
  * - RMW_TOPIC_INVALID_IS_EMPTY_STRING 
  * - RMW_TOPIC_INVALID_NOT_ABSOLUTE 
  * - RMW_TOPIC_INVALID_ENDS_WITH_FORWARD_SLASH 
  * - RMW_TOPIC_INVALID_CONTAINS_UNALLOWED_CHARACTERS 
  * - RMW_TOPIC_INVALID_CONTAINS_REPEATED_FORWARD_SLASH 
  * - RMW_TOPIC_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER 
  * - RMW_TOPIC_INVALID_TOO_LONG 
  * 
  * The result value can be converted to a description with the 
  * rmw_full_topic_name_validation_result_string() function. 
  * 
  * The `RMW_TOPIC_INVALID_TOO_LONG` is guaranteed to be checked last, such 
  * that if you get that result, then you can assume all other checks succeeded. 
  * This is done so that the length limit can be treated as a warning rather 
  * than an error if desired. 
  * 
  * \param[in] topic_name topic name to be validated 
  * \param[out] validation_result int in which the result of the check is stored 
  * \param[out] invalid_index size_t index of the input string where an error occurred 
  * \returns `RMW_RET_OK` on successfully running the check, or 
  * \returns `RMW_RET_INVALID_ARGUMENT` on invalid parameters, or 
  * \returns `RMW_RET_ERROR` when an unspecified error occurs. 
  */ 
 RMW_PUBLIC 
 RMW_WARN_UNUSED 
 rmw_ret_t 
 rmw_validate_full_topic_name( 
   const char * topic_name, 
   int * validation_result, 
   size_t * invalid_index); 
 /// Determine if a given fully qualified topic name is valid. 
 /** Validity of a FQN for topic is determined based on rules defined here: 
  * 
  *   http://design.ros2.org/articles/topic_and_service_names.html 
  * 
  * Note that this function expects any URL suffixes as described in the above 
  * document to have already been removed. 
  * 
  * If either the C string or validation_result pointer are null, then 
  * `RMW_RET_INVALID_ARGUMENT` will be returned. 
  * The topic_name should be a valid, null-terminated C string. 
  * The validation_result int pointer should point to valid memory so a result 
  * can be stored in it as an output variable. 
  * The invalid_index size_t pointer should either point NULL or to valid memory 
  * so in the event of a validation error, the location in the input string can 
  * be stored therein. 
  * If NULL is passed in for invalid_index, it will be not be set. 
  * 
  * The invalid_index will not be assigned a value if the topic is valid. 
  * 
  * The int which validation_result points to will have a one of a few possible 
  * results values (defined with macros) stored into it: 
  * 
  * - RMW_TOPIC_VALID 
  * - RMW_TOPIC_INVALID_IS_EMPTY_STRING 
  * - RMW_TOPIC_INVALID_NOT_ABSOLUTE 
  * - RMW_TOPIC_INVALID_ENDS_WITH_FORWARD_SLASH 
  * - RMW_TOPIC_INVALID_CONTAINS_UNALLOWED_CHARACTERS 
  * - RMW_TOPIC_INVALID_CONTAINS_REPEATED_FORWARD_SLASH 
  * - RMW_TOPIC_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER 
  * - RMW_TOPIC_INVALID_TOO_LONG 
  * 
  * The result value can be converted to a description with the 
  * rmw_full_topic_name_validation_result_string() function. 
  * 
  * The `RMW_TOPIC_INVALID_TOO_LONG` is guaranteed to be checked last, such 
  * that if you get that result, then you can assume all other checks succeeded. 
  * This is done so that the length limit can be treated as a warning rather 
  * than an error if desired. 
  * 
  * \param[in] topic_name topic name to be validated 
  * \param[out] validation_result int in which the result of the check is stored 
  * \param[out] invalid_index size_t index of the input string where an error occurred 
  * \returns `RMW_RET_OK` on successfully running the check, or 
  * \returns `RMW_RET_INVALID_ARGUMENT` on invalid parameters, or 
  * \returns `RMW_RET_ERROR` when an unspecified error occurs. 
  */ 
 RMW_PUBLIC 
 RMW_WARN_UNUSED 
 rmw_ret_t 
 rmw_validate_full_topic_name( 
   const char * topic_name, 
   int * validation_result, 
   size_t * invalid_index); 
  *
  * It is the responsibility of the caller to ensure that `publishers_info` parameter points
  * to a valid struct of type rmw_topic_info_array_t.
- * The `count` field inside the struct must be set to 0 and the `info_array` field inside
- * the struct must be set to null.
- * @see rmw_get_zero_initialized_topic_info_array
+ * The rmw_topic_info_array_t struct must be zero initialized.
+ * \see rmw_get_zero_initialized_topic_info_array
  *
  * The `allocator` will be used to allocate memory to the `info_array` member
  * inside of `publishers_info`.
- * Moreover, every const char * member inside of
+ * Moreover, every `const char *` member inside of
  * rmw_topic_info_t will be assigned a copied value on allocated memory.
- * @see rmw_topic_info_set_topic_type
- * @see rmw_topic_info_set_node_name
- * @see rmw_topic_info_set_node_namespace
+ * \see rmw_topic_info_set_topic_type
+ * \see rmw_topic_info_set_node_name
+ * \see rmw_topic_info_set_node_namespace
  * However, it is the responsibility of the caller to
  * reclaim any allocated resources to `publishers_info` to avoid leaking memory.
- * @see rmw_topic_info_array_fini
+ * \see rmw_topic_info_array_fini
  *
  * \param[in] node the handle to the node being used to query the ROS graph.
  * \param[in] allocator the allocator to be used when allocating space for the array.
@@ -73,7 +72,7 @@ rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_info_array_t * publishers_info);
 
-/// Retrieves the information for all subscriptions to a given topic.
+/// Retrieve the information for all subscriptions to a given topic.
 /**
  * The retrieved information will contain the subscriptions's node name, node namespace,
  * associated topic type, subscription gid and qos profile.
@@ -82,25 +81,24 @@ rmw_get_publishers_info_by_topic(
  *
  * The topic_name parameter must not be `NULL` and must follow the topic naming rules
  * mentioned at http://design.ros2.org/articles/topic_and_service_names.html
- * Non existent topic names are allowed.
+ * Names of non-existent topics are allowed.
  * They will return an empty array.
  *
  * It is the responsibility of the caller to ensure that `subscriptions_info` parameter points
  * to a valid struct of type rmw_topic_info_array_t.
- * The `count` field inside the struct must be set to 0 and the `info_array` field inside
- * the struct must be set to null.
- * @see rmw_get_zero_initialized_topic_info_array
+ * The rmw_topic_info_array_t struct must be zero initialized.
+ * \see rmw_get_zero_initialized_topic_info_array
  *
  * The `allocator` will be used to allocate memory to the `info_array` member
  * inside of `publishers_info`.
- * Moreover, every const char * member inside of
+ * Moreover, every `const char *` member inside of
  * rmw_topic_info_t will be assigned a copied value on allocated memory.
- * @see rmw_topic_info_set_topic_type
- * @see rmw_topic_info_set_node_name
- * @see rmw_topic_info_set_node_namespace
+ * \see rmw_topic_info_set_topic_type
+ * \see rmw_topic_info_set_node_name
+ * \see rmw_topic_info_set_node_namespace
  * However, it is the responsibility of the caller to
  * reclaim any allocated resources to `publishers_info` to avoid leaking memory.
- * @see rmw_topic_info_array_fini
+ * \see rmw_topic_info_array_fini
  *
  * \param[in] node the handle to the node being used to query the ROS graph.
  * \param[in] allocator the allocator to be used when allocating space for the array.

@@ -55,8 +55,8 @@
  *   - rmw_get_service_names_and_types()
  *   - rmw/names_and_types.h
  *   - rmw/get_topic_names_and_types.h
- *   - rmw/get_service_names_and_types.h
  *   - rmw/get_topic_info.h
+ *   - rmw/get_service_names_and_types.h
  *
  * Further still there are some useful abstractions and utilities:
  *

diff --git a/rmw/include/rmw/topic_info.h b/rmw/include/rmw/topic_info.h
@@ -25,7 +25,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// A structure that encapsulates the name, namespace, topic_type, gid and qos_profile
-/// of publishers and subscriptions for a topic
+/// of publishers and subscriptions for a topic.
 typedef struct RMW_PUBLIC_TYPE rmw_topic_info_t
 {
   /// Name of the node
@@ -34,9 +34,11 @@ typedef struct RMW_PUBLIC_TYPE rmw_topic_info_t
   const char * node_namespace;
   /// The associated topic type
   const char * topic_type;
-  /// The GID of the node
-  uint8_t gid[RMW_GID_STORAGE_SIZE];
-  /// Qos profile of the node
+  /// The endpoint type
+  rmw_endpoint_type_t endpoint_type;
+  /// The GID of the endpoint
+  uint8_t endpoint_gid[RMW_GID_STORAGE_SIZE];
+  /// QoS profile of the endpoint
   rmw_qos_profile_t qos_profile;
 } rmw_topic_info_t;
 
@@ -126,23 +128,24 @@ rmw_topic_info_set_node_namespace(
   const char * node_namespace,
   rcutils_allocator_t * allocator);
 
-/// Set the qos_profile in rmw_topic_info_t.
+/// Set the gid in rmw_topic_info_t.
 /**
- * rmw_topic_info_t has a member qos_profile of type const rmw_qos_profile_t *.
- * This function assigns the passed qos_profile pointer to the member.
+ * Copies the values from gid into the gid member inside topic_info.
  *
  * \param[inout] topic_info pointer to an initialized instance of rmw_topic_info_t
- * \param[in] qos_profile the qos_profile to set in rmw_topic_info_t
- * \returns `RMW_RET_OK` on successfully setting the qos_profile, or
+ * \param[in] gid the gid value to set in rmw_topic_info_t
+ * \param[in] size the size of the gid param
+ * \returns `RMW_RET_OK` on successfully setting the gid, or
  * \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or
+ * \returns `RMW_RET_INVALID_ARGUMENT` size is greater than RMW_GID_STORAGE_SIZE, or
  * \returns `RMW_RET_ERROR` when an unspecified error occurs.
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
-rmw_topic_info_set_qos_profile(
+rmw_topic_info_set_endpoint_type(
   rmw_topic_info_t * topic_info,
-  const rmw_qos_profile_t * qos_profile);
+  rmw_endpoint_type_t type);
 
 /// Set the gid in rmw_topic_info_t.
 /**
@@ -164,53 +167,23 @@ rmw_topic_info_set_gid(
   const uint8_t gid[],
   size_t size);
 
-/// Free the memory which was allocated for topic_info.node_name
-/**
- *
- * \param[inout] topic_info pointer to an initialized instance of rmw_topic_info_t
- * \param[in] allocator the allocator that was used to allocate memory
- * \returns `RMW_RET_OK` on successfully freeing the memory, or
- * \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or
- * \returns `RMW_RET_ERROR` when an unspecified error occurs.
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_ret_t
-rmw_topic_info_fini_node_name(
-  rmw_topic_info_t * topic_info,
-  rcutils_allocator_t * allocator);
-
-/// Free the memory which was allocated for topic_info.node_namespace
-/**
- *
- * \param[inout] topic_info pointer to an initialized instance of rmw_topic_info_t
- * \param[in] allocator the allocator that was used to allocate memory
- * \returns `RMW_RET_OK` on successfully freeing the memory, or
- * \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or
- * \returns `RMW_RET_ERROR` when an unspecified error occurs.
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_ret_t
-rmw_topic_info_fini_node_namespace(
-  rmw_topic_info_t * topic_info,
-  rcutils_allocator_t * allocator);
-
-/// Free the memory which was allocated for topic_info.topic_type
+/// Set the qos_profile in rmw_topic_info_t.
 /**
+ * rmw_topic_info_t has a member qos_profile of type const rmw_qos_profile_t *.
+ * This function assigns the passed qos_profile pointer to the member.
  *
  * \param[inout] topic_info pointer to an initialized instance of rmw_topic_info_t
- * \param[in] allocator the allocator that was used to allocate memory
- * \returns `RMW_RET_OK` on successfully freeing the memory, or
+ * \param[in] qos_profile the qos_profile to set in rmw_topic_info_t
+ * \returns `RMW_RET_OK` on successfully setting the qos_profile, or
  * \returns `RMW_RET_INVALID_ARGUMENT` if any parameters are NULL, or
  * \returns `RMW_RET_ERROR` when an unspecified error occurs.
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
-rmw_topic_info_fini_topic_type(
+rmw_topic_info_set_qos_profile(
   rmw_topic_info_t * topic_info,
-  rcutils_allocator_t * allocator);
+  const rmw_qos_profile_t * qos_profile);
 
 #ifdef __cplusplus
 }

@@ -46,6 +46,14 @@ typedef struct RMW_PUBLIC_TYPE rmw_node_t
   rmw_context_t * context;
 } rmw_node_t;
 
+typedef enum RMW_PUBLIC_TYPE
+{
+  RMW_ENDPOINT_INVALID = 0,
+  RMW_ENDPOINT_PUBLISHER,
+  RMW_ENDPOINT_SUBSCRIPTION,
+  RMW_ENDPOINT_UNKNOWN
+} rmw_endpoint_type_t;
+
 /// Options that can be used to configure the creation of a publisher in rmw.
 typedef struct RMW_PUBLIC_TYPE rmw_publisher_options_t
 {