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Store rosidl buffer backend metadata in graph cache #88

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17 changes: 12 additions & 5 deletions rmw_dds_common/include/rmw_dds_common/graph_cache.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,8 @@ class GraphCache
const rosidl_type_hash_t & type_hash,
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
const rosidl_type_hash_t * service_type_hash = nullptr);
const rosidl_type_hash_t * service_type_hash = nullptr,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata = {});

/// Add a data reader based on discovery.
/**
Expand All @@ -127,7 +128,8 @@ class GraphCache
const rosidl_type_hash_t & type_hash,
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
const rosidl_type_hash_t * service_type_hash = nullptr);
const rosidl_type_hash_t * service_type_hash = nullptr,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata = {});

/// Add a data reader or writer.
/**
Expand All @@ -153,7 +155,8 @@ class GraphCache
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
bool is_reader,
const rosidl_type_hash_t * service_type_hash = nullptr);
const rosidl_type_hash_t * service_type_hash = nullptr,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata = {});

/// Remove a data writer.
/**
Expand Down Expand Up @@ -611,19 +614,23 @@ struct EntityInfo
rmw_gid_t participant_gid;
/// Quality of service of the topic.
rmw_qos_profile_t qos;
/// Buffer backend metadata advertised for this endpoint.
std::unordered_map<std::string, std::string> buffer_backend_metadata;

/// Simple constructor.
EntityInfo(
const std::string & topic_name,
const std::string & topic_type,
const rosidl_type_hash_t & topic_type_hash,
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos)
const rmw_qos_profile_t & qos,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata = {})
: topic_name(topic_name),
topic_type(topic_type),
topic_type_hash(topic_type_hash),
participant_gid(participant_gid),
qos(qos)
qos(qos),
buffer_backend_metadata(buffer_backend_metadata)
{}
};

Expand Down
60 changes: 53 additions & 7 deletions rmw_dds_common/src/graph_cache.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@
#include <vector>

#include "rcutils/strdup.h"
#include "rcutils/error_handling.h"
#include "rcutils/types/string_map.h"

#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
Expand Down Expand Up @@ -70,13 +72,15 @@ GraphCache::add_writer(
const rosidl_type_hash_t & type_hash,
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
const rosidl_type_hash_t * service_type_hash)
const rosidl_type_hash_t * service_type_hash,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata)
{
std::lock_guard<std::mutex> guard(mutex_);
auto pair = data_writers_.emplace(
std::piecewise_construct,
std::forward_as_tuple(gid),
std::forward_as_tuple(topic_name, type_name, type_hash, participant_gid, qos));
std::forward_as_tuple(
topic_name, type_name, type_hash, participant_gid, qos, buffer_backend_metadata));
if (service_type_hash) {
data_services_.emplace(
std::piecewise_construct,
Expand All @@ -95,13 +99,15 @@ GraphCache::add_reader(
const rosidl_type_hash_t & type_hash,
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
const rosidl_type_hash_t * service_type_hash)
const rosidl_type_hash_t * service_type_hash,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata)
{
std::lock_guard<std::mutex> guard(mutex_);
auto pair = data_readers_.emplace(
std::piecewise_construct,
std::forward_as_tuple(gid),
std::forward_as_tuple(topic_name, type_name, type_hash, participant_gid, qos));
std::forward_as_tuple(
topic_name, type_name, type_hash, participant_gid, qos, buffer_backend_metadata));
if (service_type_hash) {
data_services_.emplace(
std::piecewise_construct,
Expand All @@ -121,7 +127,8 @@ GraphCache::add_entity(
const rmw_gid_t & participant_gid,
const rmw_qos_profile_t & qos,
bool is_reader,
const rosidl_type_hash_t * service_type_hash)
const rosidl_type_hash_t * service_type_hash,
const std::unordered_map<std::string, std::string> & buffer_backend_metadata)
{
if (is_reader) {
return this->add_reader(
Expand All @@ -131,7 +138,8 @@ GraphCache::add_entity(
type_hash,
participant_gid,
qos,
service_type_hash);
service_type_hash,
buffer_backend_metadata);
}
return this->add_writer(
gid,
Expand All @@ -140,7 +148,8 @@ GraphCache::add_entity(
type_hash,
participant_gid,
qos,
service_type_hash);
service_type_hash,
buffer_backend_metadata);
}

bool
Expand Down Expand Up @@ -622,6 +631,43 @@ __get_entities_info_by_topic(
if (RMW_RET_OK != ret) {
return ret;
}

if (!entity_pair.second.buffer_backend_metadata.empty()) {
rcutils_string_map_t buffer_backend_metadata = rcutils_get_zero_initialized_string_map();
rcutils_ret_t rcutils_ret = rcutils_string_map_init(
&buffer_backend_metadata,
entity_pair.second.buffer_backend_metadata.size(),
*allocator);
if (RCUTILS_RET_OK != rcutils_ret) {
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
rcutils_reset_error();
return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
}

for (const auto & backend_pair : entity_pair.second.buffer_backend_metadata) {
rcutils_ret = rcutils_string_map_set(
&buffer_backend_metadata,
backend_pair.first.c_str(),
backend_pair.second.c_str());
if (RCUTILS_RET_OK != rcutils_ret) {
rcutils_ret_t fini_ret = rcutils_string_map_fini(&buffer_backend_metadata);
(void)fini_ret;
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
rcutils_reset_error();
return rmw_convert_rcutils_ret_to_rmw_ret(rcutils_ret);
}
}

ret = rmw_topic_endpoint_info_set_buffer_backend_metadata(
&endpoint_info,
&buffer_backend_metadata,
allocator);
rcutils_ret_t fini_ret = rcutils_string_map_fini(&buffer_backend_metadata);
(void)fini_ret;
if (RMW_RET_OK != ret) {
return ret;
}
}
i++;
}

Expand Down