Skip to content

Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info #988

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
nvcyc wants to merge 1 commit into
base: rolling
Choose a base branch
from
+45 −0
Open

Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info #988

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
45 changes: 45 additions & 0 deletions rmw_zenoh_cpp/src/detail/graph_cache.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,11 @@
#include "rcpputils/find_and_replace.hpp"
#include "rcpputils/scope_exit.hpp"

#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/sanity_checks.h"
#include "rmw/validate_namespace.h"
Expand Down Expand Up @@ -1163,6 +1166,48 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
return ret;
}

auto entity_topic_info = entity->topic_info();
if (entity_topic_info.has_value() &&
entity_topic_info->backend_metadata_.has_value() &&
!entity_topic_info->backend_metadata_->empty())
{
rcutils_string_map_t buffer_backend_metadata =
rcutils_get_zero_initialized_string_map();
rcutils_ret_t rc_ret = rcutils_string_map_init(
&buffer_backend_metadata,
entity_topic_info->backend_metadata_->size(),
*allocator);
if (RCUTILS_RET_OK != rc_ret) {
RMW_SET_ERROR_MSG(rcutils_get_error_string().str);
rcutils_reset_error();
return rmw_convert_rcutils_ret_to_rmw_ret(rc_ret);
}

for (const auto & backend_pair : entity_topic_info->backend_metadata_.value()) {
rc_ret = rcutils_string_map_set(
&buffer_backend_metadata,
backend_pair.first.c_str(),
backend_pair.second.c_str());
if (RCUTILS_RET_OK != rc_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(rc_ret);
}
}

ret = rmw_topic_endpoint_info_set_buffer_backend_metadata(
&ep,
&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;
}
}

rosidl_type_hash_t type_hash;
rcutils_ret_t rc_ret = rosidl_parse_type_hash_string(
topic_data->info_.type_hash_.c_str(),
Expand Down
Loading