add : get clients, servers info

rmw_cyclonedds_cpp/src/rmw_node.cpp

@@ -5837,6 +5837,72 @@ extern "C" rmw_ret_t rmw_get_subscriptions_info_by_topic(
     subscriptions_info);
 }
 
+extern "C" rmw_ret_t rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * clients_info)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node, node->implementation_identifier, eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(clients_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  auto common_context = &node->context->impl->common;
+  std::string mangled_rp_topic_name = service_name;
+  DemangleFunction demangle_type = _identity_demangle;
+  if (!no_mangle) {
+    mangled_rp_topic_name = \
+      make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", false);
+    demangle_type = _demangle_if_ros_type;
+  }
+  return common_context->graph_cache.get_readers_info_by_topic(
+    mangled_rp_topic_name,
+    demangle_type,
+    allocator,
+    clients_info);
+}
+
+extern "C" rmw_ret_t rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * servers_info)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node, node->implementation_identifier, eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(servers_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
+  auto common_context = &node->context->impl->common;
+
+  std::string mangled_rp_topic_name = service_name;
+  DemangleFunction demangle_type = _identity_demangle;
+  if (!no_mangle) {
+    mangled_rp_topic_name = \
+      make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", false);
+    demangle_type = _demangle_if_ros_type;
+  }
+  return common_context->graph_cache.get_writers_info_by_topic(
+    mangled_rp_topic_name,
+    demangle_type,
+    allocator,
+    servers_info);
+}
+
 extern "C" rmw_ret_t rmw_qos_profile_check_compatible(
   const rmw_qos_profile_t publisher_profile,
   const rmw_qos_profile_t subscription_profile,