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Add get_non_local_subscription_count to PublisherBase #2338

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Add get_non_local_subscription_count to PublisherBase #2338

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1962306
Add `get_non_local_subscription_count` to PublisherBase
JLBuenoLopez Jun 6, 2023
2679eca
Made inter-process publish depend on `get_non_local_subscription_count`
JLBuenoLopez Jun 6, 2023
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4 changes: 2 additions & 2 deletions rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,7 +237,7 @@ class Publisher : public PublisherBase
// It's not possible to do that with an unique_ptr,
// as do_intra_process_publish takes the ownership of the message.
bool inter_process_publish_needed =
get_subscription_count() > get_intra_process_subscription_count();
get_non_local_subscription_count() > 0;

if (inter_process_publish_needed) {
auto shared_msg =
Expand Down Expand Up @@ -306,7 +306,7 @@ class Publisher : public PublisherBase
}

bool inter_process_publish_needed =
get_subscription_count() > get_intra_process_subscription_count();
get_non_local_subscription_count() > 0;

if (inter_process_publish_needed) {
ROSMessageType ros_msg;
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6 changes: 6 additions & 0 deletions rclcpp/include/rclcpp/publisher_base.hpp
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Expand Up @@ -133,6 +133,12 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
size_t
get_subscription_count() const;

/// Get non local subscription count
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@fujitatomoya fujitatomoya Oct 24, 2023

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I think this means that Not in the same context for the ROS 2 user (precisely for DDS-RTPS, GUID prefix is not the same), that would be nicer to add the description explains?

/** \return The number of non local subscriptions. */
RCLCPP_PUBLIC
size_t
get_non_local_subscription_count() const;

/// Get intraprocess subscription count
/** \return The number of intraprocess subscriptions. */
RCLCPP_PUBLIC
Expand Down
27 changes: 27 additions & 0 deletions rclcpp/src/rclcpp/publisher_base.cpp
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Expand Up @@ -253,6 +253,33 @@ PublisherBase::get_subscription_count() const
return inter_process_subscription_count;
}

size_t
PublisherBase::get_non_local_subscription_count() const
{
size_t inter_process_non_local_subscription_count = 0;

rcl_ret_t status = rcl_publisher_get_non_local_subscription_count(
publisher_handle_.get(),
&inter_process_non_local_subscription_count);

if (RCL_RET_PUBLISHER_INVALID == status) {
rcl_reset_error(); /* next call will reset error message if not context */
if (rcl_publisher_is_valid_except_context(publisher_handle_.get())) {
rcl_context_t * context = rcl_publisher_get_context(publisher_handle_.get());
if (nullptr != context && !rcl_context_is_valid(context)) {
/* publisher is invalid due to context being shutdown */
return 0;
}
}
}
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(
status,
"failed to get get non local subscription count");
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@fujitatomoya fujitatomoya Oct 24, 2023

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Suggested change
"failed to get get non local subscription count");
"failed to get non local subscription count");

}
return inter_process_non_local_subscription_count;
}

size_t
PublisherBase::get_intra_process_subscription_count() const
{
Expand Down