rclex

#ifdef __cplusplus
extern "C"
{
#endif


#include <erl_nif.h>
#include "total_nif.h"
#include "graph_nif.h"

#include "rcl/rcl.h"
#include "rcl/graph.h"

/*
rcl_ret_t
rcl_get_topic_names_and_types(
   const rcl_node_t * node,
   rcl_allocator_t * allocator,
   bool no_demangle,
   rcl_names_and_types_t * topic_names_and_types);
*/
ERL_NIF_TERM nif_rcl_get_topic_names_and_types(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 3) {
    return enif_make_badarg(env);
  }
  int res;
  rcl_names_and_types_t * res_names_and_types;
  ERL_NIF_TERM ret;

  rcl_node_t* res_arg_node;
  rcl_allocator_t* res_alloc;
  char res_no_demangle[128];

  (void)memset(&res_no_demangle,'\0',sizeof(res_no_demangle));

  if(!enif_get_resource(env, argv[0], rt_node, (void**) &res_arg_node)) {
    return enif_make_badarg(env);
  }

  if(!enif_get_resource(env, argv[1], rt_default_alloc, (void**) &res_alloc)) {
    return enif_make_badarg(env);
  }

  if(!enif_get_atom(env, argv[2], res_no_demangle, sizeof(res_no_demangle),ERL_NIF_LATIN1)) {
    return enif_make_badarg(env);
  }
  bool no_demangle = res_no_demangle == "true";

  res_names_and_types = enif_alloc_resource(rt_names_and_types,sizeof(rcl_names_and_types_t));
  if(res_names_and_types == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res_names_and_types);
  (void)memset(&res_names_and_types[0],NULL,sizeof(rcl_names_and_types_t));
  res = rcl_get_topic_names_and_types(res_arg_node, res_alloc, no_demangle, res_names_and_types);

  int names_length = res_names_and_types->names.size;
  ERL_NIF_TERM *names_and_types_array = enif_alloc(sizeof(ERL_NIF_TERM) * names_length);
  for(int i = 0; i < names_length; i++) {
    int types_length = res_names_and_types->types[i].size;
    ERL_NIF_TERM *types_array = enif_alloc(sizeof(ERL_NIF_TERM) * types_length);
    for(int j = 0; j < types_length; j++) {
      types_array[j] = enif_make_string(env, res_names_and_types->types[i].data[j], ERL_NIF_LATIN1);
    }
    names_and_types_array[i] = enif_make_tuple2(
                                 env,
                                 enif_make_string(env, res_names_and_types->names.data[i], ERL_NIF_LATIN1),
                                 enif_make_list_from_array(
                                   env,
                                   types_array,
                                   types_length
                                 )
                               );
  }

  return enif_make_list_from_array(
           env,
           names_and_types_array,
           names_length
         );
}

#ifdef __cplusplus
}
#endif