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Add rosidl buffer backend metadata to topic endpoint info #419

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39 changes: 39 additions & 0 deletions rmw/include/rmw/topic_endpoint_info.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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;
Comment on lines +48 to +49

@fujitatomoya fujitatomoya Jun 11, 2026

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the struct previously held only const char * owning pointers, but it now holds a rcutils_string_map_t whose impl is a heap pointer with its own fini. any code path that copies an rmw_topic_endpoint_info_t by plain struct assignment or memcpy now aliases that impl between two structs.
the existing const char * members have the same hazard in principle, but the codebase already established a deep-copy discipline for strings.
i'd suggest a rmw_topic_endpoint_info deep-copy helper, or at minimum confirmation that no array/element copy in the current code and companion PRs.

} rmw_topic_endpoint_info_t;

/// Return zero initialized topic endpoint info data structure.
Expand Down Expand Up @@ -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.
*
* <hr>
* 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
Expand Down
74 changes: 74 additions & 0 deletions rmw/src/topic_endpoint_info.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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"

Expand Down Expand Up @@ -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();

Expand Down Expand Up @@ -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;
}
54 changes: 54 additions & 0 deletions rmw/test/test_topic_endpoint_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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) {
Expand Down Expand Up @@ -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();
Expand Down Expand Up @@ -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);
}