Refs #21711: DataWriter get_matched_subscription_data() get_matched_s…

…ubscriptions() implementation

Signed-off-by: Mario Dominguez <[email protected]>

include/fastdds/dds/publisher/DataWriter.hpp

@@ -517,9 +517,9 @@ class DataWriter : public DomainEntity
      *
      * @param[out] subscription_data subscription data struct
      * @param subscription_handle InstanceHandle_t of the subscription
-     * @return RETCODE_OK
+     * @return RETCODE_BAD_PARAMETER if the DataWriter is not matched with
+     * the given subscription handle, RETCODE_OK otherwise.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_subscription_data(
             builtin::SubscriptionBuiltinTopicData& subscription_data,
@@ -529,13 +529,16 @@ class DataWriter : public DomainEntity
      * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
      *
      * @param[out] subscription_handles Vector where the InstanceHandle_t are returned
-     * @return RETCODE_OK
+     * @return RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns RETCODE_OK.
      *
-     * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     RTPS_DllAPI ReturnCode_t get_matched_subscriptions(
             std::vector<InstanceHandle_t>& subscription_handles) const;
-
+    /**
+     * @note User is responsible for the memory deallocation of the returned vector.
+     */
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
     FASTDDS_DEPRECATED_UNTIL(3, "eprosima::fastdds::dds:DataWriter::get_matched_subscriptions()",
             "In favor of version using std::vector<fastrtps::rtps::InstanceHandle_t>.")

src/cpp/fastdds/publisher/DataWriter.cpp

@@ -302,32 +302,19 @@ ReturnCode_t DataWriter::get_matched_subscription_data(
         builtin::SubscriptionBuiltinTopicData& subscription_data,
         const InstanceHandle_t& subscription_handle) const
 {
-    static_cast<void> (subscription_data);
-    static_cast<void> (subscription_handle);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_data, subscription_handle);
-     */
+    return impl_->get_matched_subscription_data(subscription_data, subscription_handle);
 }
 
 ReturnCode_t DataWriter::get_matched_subscriptions(
         std::vector<InstanceHandle_t>& subscription_handles) const
 {
-    static_cast<void> (subscription_handles);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_handles);
-     */
+    return impl_->get_matched_subscriptions(subscription_handles);
 }
 
 ReturnCode_t DataWriter::get_matched_subscriptions(
         std::vector<InstanceHandle_t*>& subscription_handles) const
 {
-    static_cast<void> (subscription_handles);
-    return ReturnCode_t::RETCODE_UNSUPPORTED;
-    /*
-       return impl_->get_matched_subscription_data(subscription_handles);
-     */
+    return impl_->get_matched_subscriptions(subscription_handles);
 }
 
 ReturnCode_t DataWriter::clear_history(

src/cpp/fastdds/publisher/DataWriterImpl.cpp

@@ -2228,6 +2228,69 @@ void DataWriterImpl::filter_is_being_removed(
     }
 }
 
+ReturnCode_t DataWriterImpl::get_matched_subscription_data(
+        builtin::SubscriptionBuiltinTopicData& subscription_data,
+        const fastrtps::rtps::InstanceHandle_t& subscription_handle) const
+{
+    fastrtps::types::ReturnCode_t ret = ReturnCode_t::RETCODE_BAD_PARAMETER;
+    GUID_t reader_guid = iHandle2GUID(subscription_handle);
+
+    if (writer_ && writer_->matched_reader_is_matched(reader_guid))
+    {
+        if (publisher_)
+        {
+            RTPSParticipant* rtps_participant = publisher_->rtps_participant();
+            if (rtps_participant &&
+                    rtps_participant->get_subscription_info(subscription_data, reader_guid))
+            {
+                ret = ReturnCode_t::RETCODE_OK;
+            }
+        }
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataWriterImpl::get_matched_subscriptions(
+        std::vector<InstanceHandle_t>& subscription_handles) const
+{
+    ReturnCode_t ret = ReturnCode_t::RETCODE_ERROR;
+    std::vector<GUID_t> matched_reader_guids;
+    subscription_handles.clear();
+
+    if (writer_ && writer_->matched_readers_guids(matched_reader_guids))
+    {
+        for (const GUID_t& guid : matched_reader_guids)
+        {
+            subscription_handles.push_back(InstanceHandle_t(guid));
+        }
+        ret = ReturnCode_t::RETCODE_OK;
+    }
+
+    return ret;
+}
+
+ReturnCode_t DataWriterImpl::get_matched_subscriptions(
+        std::vector<InstanceHandle_t*>& subscription_handles) const
+{
+    ReturnCode_t ret = ReturnCode_t::RETCODE_ERROR;
+    std::vector<GUID_t> matched_reader_guids;
+    subscription_handles.clear();
+
+    if (writer_ && writer_->matched_readers_guids(matched_reader_guids))
+    {
+        for (const GUID_t& guid : matched_reader_guids)
+        {
+            // Note: user is responsible for deleting the InstanceHandle_t objects
+            subscription_handles.push_back(new InstanceHandle_t(guid));
+        }
+
+        ret = ReturnCode_t::RETCODE_OK;
+    }
+
+    return ret;
+}
+
 bool DataWriterImpl::is_relevant(
         const fastrtps::rtps::CacheChange_t& change,
         const fastrtps::rtps::GUID_t& reader_guid) const

src/cpp/fastdds/publisher/DataWriterImpl.hpp

@@ -389,6 +389,34 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
     void filter_is_being_removed(
             const char* filter_class_name);
 
+    /**
+     * @brief Retrieves in a subscription associated with the DataWriter
+     *
+     * @param[out] subscription_data subscription data struct
+     * @param subscription_handle InstanceHandle_t of the subscription
+     * @return RETCODE_BAD_PARAMETER if the DataWriter is not matched with
+     * the given subscription handle, RETCODE_OK otherwise.
+     *
+     */
+    ReturnCode_t get_matched_subscription_data(
+            builtin::SubscriptionBuiltinTopicData& subscription_data,
+            const InstanceHandle_t& subscription_handle) const;
+
+    /**
+     * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
+     *
+     * @param[out] subscription_handles Vector where the InstanceHandle_t are returned
+     * @return RETCODE_OK if the operation succeeds.
+     *
+     * @note Returning an empty list is not an error, it returns RETCODE_OK.
+     *
+     */
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t>& subscription_handles) const;
+
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t*>& subscription_handles) const;
+
 protected:
 
     using IChangePool = eprosima::fastrtps::rtps::IChangePool;

test/unittest/statistics/dds/StatisticsDomainParticipantStatusQueryableTests/mock/fastdds/publisher/DataWriterImpl.hpp

@@ -429,6 +429,25 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
 
     }
 
+    ReturnCode_t get_matched_subscription_data(
+            builtin::SubscriptionBuiltinTopicData&,
+            const InstanceHandle_t& ) const
+    {
+        return ReturnCode_t::RETCODE_OK;
+    }
+
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t>&) const
+    {
+        return ReturnCode_t::RETCODE_OK;
+    }
+
+    ReturnCode_t get_matched_subscriptions(
+            std::vector<InstanceHandle_t*>&) const
+    {
+        return ReturnCode_t::RETCODE_OK;
+    }
+
     //! Pointer to the associated Data Writer.
     fastrtps::rtps::RTPSWriter* writer_ = nullptr;
     Topic* topic_ = nullptr;