Add node graph functions (#158)

* Add node graph interface for information by node

cr https://code.amazon.com/reviews/CR-3755115

* Add namespace to graph functions

* Runs uncrustify --reformat on all files

This commit has been generated by running:

ament_uncrustify .

* Fix copyright header

* Fix cpplint issues

Author: ross-desmond

rmw/include/rmw/get_node_info_and_types.h

@@ -0,0 +1,137 @@
+// Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// 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 RMW__GET_NODE_INFO_AND_TYPES_H_
+#define RMW__GET_NODE_INFO_AND_TYPES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rmw/macros.h"
+#include "rmw/names_and_types.h"
+#include "rmw/types.h"
+#include "rmw/visibility_control.h"
+
+/// Return a list of subscribed topic names and their types.
+/**
+ * This function returns a list of subscribed topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[in] node_namespace the namespace of the node to get information for
+ * \param[in] no_demangle if true, list all topics without any demangling
+ * \param[out] topic_names_and_types list of topic names and their types the node_name is subscribed to
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_subscriber_names_and_types_by_node(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  bool demangle,
+  rmw_names_and_types_t * topics_names_and_types);
+
+/// Return a list of published topic names and their types.
+/**
+ * This function returns a list of published topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[in] node_namespace the namespace of the node to get information for
+ * \param[in] no_demangle if true, list all topics without any demangling
+ * \param[out] topic_names_and_types list of topic names and their types the node_name is publishing
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_publisher_names_and_types_by_node(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  bool demangle,
+  rmw_names_and_types_t * topic_names_and_types);
+
+/// Return a list of service topic names and their types.
+/**
+ * This function returns a list of service topic names and their types.
+ *
+ * The node parameter must not be `NULL`, and must point to a valid node.
+ *
+ * The topic_names_and_types parameter must be allocated and zero initialized.
+ * The topic_names_and_types is the output for this function, and contains
+ * allocated memory.
+ * Therefore, it should be passed to rmw_names_and_types_fini() when
+ * it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator to be used when allocating space for strings
+ * \param[in] node_name the name of the node to get information for
+ * \param[in] node_namespace the namespace of the node to get information for
+ * \param[out] topic_names_and_types list of topic names and their types the node_name has created a service for
+ * \return `RMW_RET_OK` if the query was successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_service_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);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // RMW__GET_NODE_INFO_AND_TYPES_H_