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Add rmw_publisher_count_non_local_matched_subscriptions #358

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Add rmw_publisher_count_non_local_matched_subscriptions #358

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29 changes: 29 additions & 0 deletions rmw/include/rmw/rmw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -661,6 +661,35 @@ rmw_publisher_count_matched_subscriptions(
const rmw_publisher_t * publisher,
size_t * subscription_count);

/// Retrieve the number of non local matched subscriptions to a publisher.
/**
* Query the underlying middleware to determine how many non local subscriptions are
* matched to a given publisher.
*
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I think it would be better to define what is local means by here.

Suggested change
*
* The definition of local means that in the same context.
*

* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | No
* Uses Atomics | Maybe [1]
* Lock-Free | Maybe [1]
* <i>[1] rmw implementation defined, check the implementation documentation</i>
*
* \param[in] publisher the publisher object to inspect
* \param[out] non_local_subscription_count the number of non local subscriptions matched
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if either argument is null, or
* \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if publisher
* implementation identifier does not match, or
* \return `RMW_RET_ERROR` if an unexpected error occurs.
*/
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_publisher_count_non_local_matched_subscriptions(
const rmw_publisher_t * publisher,
size_t * non_local_subscription_count);

/// Retrieve the actual qos settings of the publisher.
/**
* Query the underlying middleware to determine the qos settings
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