[API] add get_nodes method to DSRGraph (#8)

robocomp · Jan 10, 2025 · c81408c · c81408c
1 parent bec4b84
commit c81408c
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Showing 2 changed files with 17 additions and 0 deletions.
diff --git a/api/dsr_api.cpp b/api/dsr_api.cpp
@@ -432,6 +432,22 @@ std::vector<DSR::Node> DSRGraph::get_nodes_by_type(const std::string &type)
     return nodes_;
 }
 
+std::vector<Node> DSRGraph::get_nodes()
+{
+    std::shared_lock<std::shared_mutex> lock(_mutex);
+
+    std::vector<Node> nodes_;
+    nodes_.reserve(nodes.size());
+
+    for (auto &[id, N]: nodes)
+    {
+        nodes_.emplace_back(N.read_reg());
+    }
+    return nodes_;
+
+}
+
+
 std::vector<DSR::Node> DSRGraph::get_nodes_by_types(const std::vector<std::string> &types)
 {
     std::shared_lock<std::shared_mutex> lock(_mutex);

diff --git a/api/include/dsr/api/dsr_api.h b/api/include/dsr/api/dsr_api.h
@@ -107,6 +107,7 @@ namespace DSR
         std::optional<Node> get_node_root() { return get_node("root"); };
         std::vector<Node> get_nodes_by_type(const std::string &type);
         std::vector<Node> get_nodes_by_types(const std::vector<std::string> &types);
+        std::vector<Node> get_nodes();
         std::optional<std::string> get_name_from_id(uint64_t id);
         std::optional<uint64_t> get_id_from_name(const std::string &name);
         std::optional<std::int32_t> get_node_level(const Node &n);