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Add subscription count to publisher #139

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17 changes: 17 additions & 0 deletions rcldotnet/Publisher.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,11 @@ internal delegate RCLRet NativeRCLPublishType(

internal static NativeRCLPublishType native_rcl_publish = null;

[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
internal delegate int NativeRCLGetSubscriptionCountType(SafePublisherHandle publisherHandle, out int count);

internal static NativeRCLGetSubscriptionCountType native_rcl_get_subscription_count = null;

static PublisherDelegates()
{
_dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
Expand All @@ -37,6 +42,10 @@ static PublisherDelegates()
IntPtr native_rcl_publish_ptr = _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_publish");
PublisherDelegates.native_rcl_publish = (NativeRCLPublishType)Marshal.GetDelegateForFunctionPointer(
native_rcl_publish_ptr, typeof(NativeRCLPublishType));

IntPtr native_rcl_get_subscription_count_ptr = _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_get_subscription_count");
PublisherDelegates.native_rcl_get_subscription_count = (NativeRCLGetSubscriptionCountType)Marshal.GetDelegateForFunctionPointer(
native_rcl_get_subscription_count_ptr, typeof(NativeRCLGetSubscriptionCountType));
}
}

Expand Down Expand Up @@ -79,5 +88,13 @@ public void Publish(T message)
RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(PublisherDelegates.native_rcl_publish)}() failed.");
}
}

public int GetSubscriptionCount()
{
int count;
int ret = PublisherDelegates.native_rcl_get_subscription_count(Handle, out count);
RCLExceptionHelper.CheckReturnValue((RCLRet)ret, $"{nameof(PublisherDelegates.native_rcl_get_subscription_count)}() failed.");
return count;
}
}
}
13 changes: 13 additions & 0 deletions rcldotnet/rcldotnet_publisher.c
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Expand Up @@ -33,3 +33,16 @@ int32_t native_rcl_publish(void * publisher_handle, void * raw_ros_message)

return ret;
}

int32_t native_rcl_get_subscription_count(void * publisher_handle, int32_t * count_out)
{
rcl_publisher_t * publisher = (rcl_publisher_t *)publisher_handle;

int32_t count = 0;
rcl_ret_t ret = rcl_publisher_get_subscription_count(publisher, &count);
if (ret != RCL_RET_OK) {
return ret;
}
*count_out = count;
return ret;
}
3 changes: 3 additions & 0 deletions rcldotnet/rcldotnet_publisher.h
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Expand Up @@ -20,4 +20,7 @@
RCLDOTNET_EXPORT
int32_t RCLDOTNET_CDECL native_rcl_publish(void *, void *);

RCLDOTNET_EXPORT
int32_t RCLDOTNET_CDECL native_rcl_get_subscription_count(void* publisher_handle, int32_t* count_out);

#endif // RCLDOTNET_PUBLISHER_H