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Expose discovered rosidle buffer backends through graph cache #889

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Expose discovered rosidle buffer backends through graph cache #889

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7 changes: 4 additions & 3 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,6 +265,8 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
{
ser_type_hash_ptr = &ser_type_hash;
}
auto buffer_backends = parse_buffer_backends_from_user_data(
userDataValue.data(), userDataValue.size());
context->graph_cache.add_entity(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
Expand All @@ -277,13 +279,12 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
proxyData.participant_guid),
qos_profile,
is_reader,
ser_type_hash_ptr);
ser_type_hash_ptr,
buffer_backends);

// Parse buffer backend info and invoke callback if present.
// Copy the callback outside the lock so buffer_cb_mutex_ is not held
// during the callback (which may acquire other mutexes or do DDS work).
auto buffer_backends = parse_buffer_backends_from_user_data(
userDataValue.data(), userDataValue.size());
if (!buffer_backends.empty()) {
BufferDiscoveryCallback cb_copy;
{
Expand Down