diff --git a/rmw/include/rmw/topic_endpoint_info.h b/rmw/include/rmw/topic_endpoint_info.h index c05d397a..dcf1f730 100644 --- a/rmw/include/rmw/topic_endpoint_info.h +++ b/rmw/include/rmw/topic_endpoint_info.h @@ -21,6 +21,7 @@ extern "C" #endif #include "rcutils/allocator.h" +#include "rcutils/types/string_map.h" #include "rosidl_runtime_c/type_hash.h" #include "rmw/types.h" #include "rmw/visibility_control.h" @@ -44,6 +45,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_s uint8_t endpoint_gid[RMW_GID_STORAGE_SIZE]; /// QoS profile of the endpoint rmw_qos_profile_t qos_profile; + /// Buffer backend metadata advertised for this endpoint + rcutils_string_map_t buffer_backend_metadata; } rmw_topic_endpoint_info_t; /// Return zero initialized topic endpoint info data structure. @@ -363,6 +366,42 @@ rmw_topic_endpoint_info_set_qos_profile( rmw_topic_endpoint_info_t * topic_endpoint_info, const rmw_qos_profile_t * qos_profile); +/// Set buffer backend metadata in the given topic endpoint info data structure. +/** + * Copies all key/value pairs from `buffer_backend_metadata` into the topic endpoint info. + * Keys are backend names and values are backend-specific metadata strings. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | No + * + * \par Thread-safety + * Setting a member is a reentrant procedure, but access to the + * topic endpoint info data structure is not synchronized. + * It is not safe to read or write the `buffer_backend_metadata` member of the + * given `topic_endpoint` while setting it. + * + * \param[inout] topic_endpoint_info Data structure to be populated. + * \param[in] buffer_backend_metadata Buffer backend metadata to be copied. + * \param[in] allocator Allocator to be used. + * \returns `RMW_RET_OK` if successful, or + * \returns `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or + * \returns `RMW_RET_BAD_ALLOC` if memory allocation fails, or + * \returns `RMW_RET_ERROR` when an unspecified error occurs. + * \remark This function sets the RMW error state on failure. + */ +RMW_PUBLIC +RMW_WARN_UNUSED +rmw_ret_t +rmw_topic_endpoint_info_set_buffer_backend_metadata( + rmw_topic_endpoint_info_t * topic_endpoint_info, + const rcutils_string_map_t * buffer_backend_metadata, + rcutils_allocator_t * allocator); + #ifdef __cplusplus } #endif diff --git a/rmw/src/topic_endpoint_info.c b/rmw/src/topic_endpoint_info.c index 10d819ae..3f7ee22d 100644 --- a/rmw/src/topic_endpoint_info.c +++ b/rmw/src/topic_endpoint_info.c @@ -15,7 +15,10 @@ #include "rmw/topic_endpoint_info.h" #include "rcutils/macros.h" +#include "rcutils/error_handling.h" #include "rcutils/strdup.h" +#include "rcutils/types/string_map.h" +#include "rmw/convert_rcutils_ret_to_rmw_ret.h" #include "rmw/error_handling.h" #include "rmw/types.h" @@ -90,6 +93,13 @@ rmw_topic_endpoint_info_fini( if (ret != RMW_RET_OK) { return ret; } + rcutils_ret_t rcutils_ret = + rcutils_string_map_fini(&topic_endpoint_info->buffer_backend_metadata); + if (rcutils_ret != RCUTILS_RET_OK) { + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + rcutils_reset_error(); + return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret); + } *topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info(); @@ -246,3 +256,67 @@ rmw_topic_endpoint_info_set_qos_profile( topic_endpoint_info->qos_profile = *qos_profile; return RMW_RET_OK; } + +rmw_ret_t +rmw_topic_endpoint_info_set_buffer_backend_metadata( + rmw_topic_endpoint_info_t * topic_endpoint_info, + const rcutils_string_map_t * buffer_backend_metadata, + rcutils_allocator_t * allocator) +{ + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT); + RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_BAD_ALLOC); + + if (!topic_endpoint_info) { + RMW_SET_ERROR_MSG("topic_endpoint_info is null"); + return RMW_RET_INVALID_ARGUMENT; + } + if (!buffer_backend_metadata) { + RMW_SET_ERROR_MSG("buffer_backend_metadata is null"); + return RMW_RET_INVALID_ARGUMENT; + } + if (!allocator) { + RMW_SET_ERROR_MSG("allocator is null"); + return RMW_RET_INVALID_ARGUMENT; + } + + size_t size = 0; + rcutils_ret_t rcutils_ret = rcutils_string_map_get_size(buffer_backend_metadata, &size); + if (rcutils_ret != RCUTILS_RET_OK) { + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + rcutils_reset_error(); + return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret); + } + + if (topic_endpoint_info->buffer_backend_metadata.impl) { + rcutils_ret = rcutils_string_map_fini(&topic_endpoint_info->buffer_backend_metadata); + if (rcutils_ret != RCUTILS_RET_OK) { + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + rcutils_reset_error(); + return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret); + } + } + + topic_endpoint_info->buffer_backend_metadata = rcutils_get_zero_initialized_string_map(); + rcutils_ret = rcutils_string_map_init( + &topic_endpoint_info->buffer_backend_metadata, size, *allocator); + if (rcutils_ret != RCUTILS_RET_OK) { + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + rcutils_reset_error(); + return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret); + } + + rcutils_ret = rcutils_string_map_copy( + buffer_backend_metadata, + &topic_endpoint_info->buffer_backend_metadata); + if (rcutils_ret != RCUTILS_RET_OK) { + rcutils_ret_t fini_ret = + rcutils_string_map_fini(&topic_endpoint_info->buffer_backend_metadata); + (void)fini_ret; + topic_endpoint_info->buffer_backend_metadata = rcutils_get_zero_initialized_string_map(); + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + rcutils_reset_error(); + return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret); + } + + return RMW_RET_OK; +} diff --git a/rmw/test/test_topic_endpoint_info.cpp b/rmw/test/test_topic_endpoint_info.cpp index 2a3603d3..4f106bac 100644 --- a/rmw/test/test_topic_endpoint_info.cpp +++ b/rmw/test/test_topic_endpoint_info.cpp @@ -15,6 +15,7 @@ #include "gmock/gmock.h" #include "osrf_testing_tools_cpp/scope_exit.hpp" #include "rcutils/allocator.h" +#include "rcutils/types/string_map.h" #include "rmw/error_handling.h" #include "rmw/topic_endpoint_info.h" @@ -217,6 +218,47 @@ TEST(test_topic_endpoint_info, set_qos_profile) { false) << "Unequal avoid namespace conventions"; } +TEST(test_topic_endpoint_info, set_buffer_backend_metadata) { + rmw_topic_endpoint_info_t topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info(); + rcutils_allocator_t allocator = rcutils_get_default_allocator(); + rcutils_string_map_t metadata = rcutils_get_zero_initialized_string_map(); + rcutils_ret_t rcutils_ret = rcutils_string_map_init(&metadata, 1, allocator); + ASSERT_EQ(rcutils_ret, RCUTILS_RET_OK); + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcutils_ret_t fini_ret = rcutils_string_map_fini(&metadata); + EXPECT_EQ(fini_ret, RCUTILS_RET_OK); + }); + rcutils_ret = rcutils_string_map_set(&metadata, "cuda", "version=1.0"); + ASSERT_EQ(rcutils_ret, RCUTILS_RET_OK); + + rmw_ret_t ret = + rmw_topic_endpoint_info_set_buffer_backend_metadata(&topic_endpoint_info, &metadata, nullptr); + EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT) << "Expected invalid argument for null allocator"; + rmw_reset_error(); + + ret = rmw_topic_endpoint_info_set_buffer_backend_metadata( + &topic_endpoint_info, nullptr, &allocator); + EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT) << "Expected invalid argument for null metadata"; + rmw_reset_error(); + + ret = rmw_topic_endpoint_info_set_buffer_backend_metadata(nullptr, &metadata, &allocator); + EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT) << + "Expected invalid argument for null topic_endpoint_info"; + rmw_reset_error(); + + ret = rmw_topic_endpoint_info_set_buffer_backend_metadata( + &topic_endpoint_info, &metadata, &allocator); + EXPECT_EQ(ret, RMW_RET_OK) << "Expected OK for valid arguments"; + EXPECT_STREQ( + rcutils_string_map_get(&topic_endpoint_info.buffer_backend_metadata, "cuda"), + "version=1.0"); + + ret = rmw_topic_endpoint_info_fini(&topic_endpoint_info, &allocator); + EXPECT_EQ(ret, RMW_RET_OK); + EXPECT_FALSE(topic_endpoint_info.buffer_backend_metadata.impl); +} + TEST(test_topic_endpoint_info, zero_init) { rmw_topic_endpoint_info_t topic_endpoint_info = rmw_get_zero_initialized_topic_endpoint_info(); EXPECT_FALSE(topic_endpoint_info.node_name); @@ -245,6 +287,7 @@ TEST(test_topic_endpoint_info, zero_init) { EXPECT_EQ( topic_endpoint_info.qos_profile.avoid_ros_namespace_conventions, false) << "Non-zero avoid namespace conventions"; + EXPECT_FALSE(topic_endpoint_info.buffer_backend_metadata.impl); } TEST(test_topic_endpoint_info, fini) { @@ -279,6 +322,16 @@ TEST(test_topic_endpoint_info, fini) { EXPECT_EQ(ret, RMW_RET_OK) << "Expected OK for valid node_name arguments"; ret = rmw_topic_endpoint_info_set_topic_type(&topic_endpoint_info, "type", &allocator); EXPECT_EQ(ret, RMW_RET_OK) << "Expected OK for valid topic_type arguments"; + rcutils_string_map_t metadata = rcutils_get_zero_initialized_string_map(); + rcutils_ret_t rcutils_ret = rcutils_string_map_init(&metadata, 1, allocator); + ASSERT_EQ(rcutils_ret, RCUTILS_RET_OK); + rcutils_ret = rcutils_string_map_set(&metadata, "cuda", ""); + ASSERT_EQ(rcutils_ret, RCUTILS_RET_OK); + ret = rmw_topic_endpoint_info_set_buffer_backend_metadata( + &topic_endpoint_info, &metadata, &allocator); + EXPECT_EQ(ret, RMW_RET_OK) << "Expected OK for valid buffer backend metadata"; + rcutils_ret = rcutils_string_map_fini(&metadata); + EXPECT_EQ(rcutils_ret, RCUTILS_RET_OK); ret = rmw_topic_endpoint_info_fini(&topic_endpoint_info, nullptr); EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT) << "Expected invalid argument for null allocator"; rmw_reset_error(); @@ -314,4 +367,5 @@ TEST(test_topic_endpoint_info, fini) { "Non-zero liveliness lease duration nsec"; EXPECT_EQ(topic_endpoint_info.qos_profile.avoid_ros_namespace_conventions, false) << "Non-zero avoid namespace conventions"; + EXPECT_FALSE(topic_endpoint_info.buffer_backend_metadata.impl); }