Add function for getting clients by node (#361)

* Add function for getting clients by node

Signed-off-by: Jacob Perron <[email protected]>

* Fix lint

Signed-off-by: Jacob Perron <[email protected]>

rmw_connext_cpp/src/rmw_node_info_and_types.cpp

@@ -64,4 +64,16 @@ rmw_get_service_names_and_types_by_node(
   return get_service_names_and_types_by_node(
     rti_connext_identifier, node, allocator, node_name, node_namespace, service_names_and_types);
 }
+
+rmw_ret_t
+rmw_get_client_names_and_types_by_node(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types)
+{
+  return get_client_names_and_types_by_node(
+    rti_connext_identifier, node, allocator, node_name, node_namespace, service_names_and_types);
+}
 }  // extern "C"

rmw_connext_dynamic_cpp/src/rmw_node_info_and_types.cpp

@@ -61,4 +61,16 @@ get_service_names_and_types_by_node(
   return rmw_connext_shared_cpp::get_service_names_and_types_by_node(
           rti_connext_identifier, node, allocator, node_name, node_namespace, service_names_and_types);
 }
+
+rmw_ret_t
+get_client_names_and_types_by_node(
+        const rmw_node_t * node,
+        rcutils_allocator_t * allocator,
+        const char * node_name,
+        const char * node_namespace,
+        rmw_names_and_types_t * service_names_and_types)
+{
+  return rmw_connext_shared_cpp::get_client_names_and_types_by_node(
+          rti_connext_identifier, node, allocator, node_name, node_namespace, service_names_and_types);
+}
 }  // extern "C"

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/node_info_and_types.hpp

@@ -22,6 +22,16 @@
 
 #include "rmw_connext_shared_cpp/visibility_control.h"
 
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+get_client_names_and_types_by_node(
+  const char * implementation_identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types);
+
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_ret_t
 get_publisher_names_and_types_by_node(

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/types.hpp

@@ -90,7 +90,8 @@ class CustomDataReaderListener
 
   void fill_service_names_and_types_by_guid(
     std::map<std::string, std::set<std::string>> & services,
-    DDS_GUID_t & participant_guid);
+    DDS_GUID_t & participant_guid,
+    const std::string & suffix);
 
 protected:
   std::mutex mutex_;

rmw_connext_shared_cpp/src/node_info_and_types.cpp

@@ -245,14 +245,16 @@ get_publisher_names_and_types_by_node(
   return copy_topics_names_and_types(topics, allocator, no_demangle, topic_names_and_types);
 }
 
+static
 rmw_ret_t
-get_service_names_and_types_by_node(
+__get_service_names_and_types_by_node(
   const char * implementation_identifier,
   const rmw_node_t * node,
   rcutils_allocator_t * allocator,
   const char * node_name,
   const char * node_namespace,
-  rmw_names_and_types_t * service_names_and_types)
+  rmw_names_and_types_t * service_names_and_types,
+  const char * suffix)
 {
   if (!node) {
     RMW_SET_ERROR_MSG("null node handle");
@@ -282,7 +284,7 @@ get_service_names_and_types_by_node(
 
   // combine publisher and subscriber information
   std::map<std::string, std::set<std::string>> services;
-  node_info->subscriber_listener->fill_service_names_and_types_by_guid(services, key);
+  node_info->subscriber_listener->fill_service_names_and_types_by_guid(services, key, suffix);
 
   rmw_ret_t rmw_ret =
     copy_services_to_names_and_types(services, allocator, service_names_and_types);
@@ -291,4 +293,42 @@ get_service_names_and_types_by_node(
   }
 
   return RMW_RET_OK;
-}  // extern "C"
+}
+
+rmw_ret_t
+get_service_names_and_types_by_node(
+  const char * implementation_identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types)
+{
+  return __get_service_names_and_types_by_node(
+    implementation_identifier,
+    node,
+    allocator,
+    node_name,
+    node_namespace,
+    service_names_and_types,
+    "Request");
+}
+
+rmw_ret_t
+get_client_names_and_types_by_node(
+  const char * implementation_identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types)
+{
+  return __get_service_names_and_types_by_node(
+    implementation_identifier,
+    node,
+    allocator,
+    node_name,
+    node_namespace,
+    service_names_and_types,
+    "Reply");
+}

rmw_connext_shared_cpp/src/types/custom_data_reader_listener.cpp

@@ -174,7 +174,8 @@ void CustomDataReaderListener::fill_topic_names_and_types_by_guid(
 
 void CustomDataReaderListener::fill_service_names_and_types_by_guid(
   std::map<std::string, std::set<std::string>> & services,
-  DDS::GUID_t & participant_guid)
+  DDS::GUID_t & participant_guid,
+  const std::string & suffix)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   const auto & map = topic_cache.get_topic_types_by_guid(participant_guid);
@@ -190,6 +191,13 @@ void CustomDataReaderListener::fill_service_names_and_types_by_guid(
       // not a service
       continue;
     }
+    // Check if the topic suffix matches and is at the end of the name
+    const std::string & topic_name = it.first;
+    auto suffix_position = topic_name.rfind(suffix);
+    if (suffix_position == std::string::npos) {
+      continue;
+    }
+
     for (auto & itt : it.second) {
       std::string service_type = _demangle_service_type_only(itt);
       if (!service_type.empty()) {