Add rmw_get_service_endpoint_info and update graph cache entity to support service type hash

Signed-off-by: Minju, Lee <[email protected]>

Author: leeminju531

rmw_connextdds/src/rmw_api_impl_ndds.cpp

@@ -16,6 +16,7 @@
 
 #include "rmw/event.h"
 #include "rmw/get_node_info_and_types.h"
+#include "rmw/get_service_endpoint_info.h"
 #include "rmw/get_service_names_and_types.h"
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/get_topic_names_and_types.h"
@@ -323,6 +324,31 @@ rmw_get_subscriptions_info_by_topic(
     node, allocator, topic_name, no_mangle, subscriptions_info);
 }
 
+rmw_ret_t
+rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * clients_info)
+{
+  return rmw_api_connextdds_get_clients_info_by_service(
+    node, allocator, service_name, no_mangle, clients_info);
+}
+
+
+rmw_ret_t
+rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * servers_info)
+{
+  return rmw_api_connextdds_get_servers_info_by_service(
+    node, allocator, service_name, no_mangle, servers_info);
+}
+
 /*****************************************************************************
  * Node API
  *****************************************************************************/

rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp

@@ -108,7 +108,8 @@ rmw_connextdds_get_datawriter_qos(
   DDS_Topic * const topic,
   DDS_DataWriterQos * const qos,
   const rmw_qos_profile_t * const qos_policies,
-  const rmw_publisher_options_t * const pub_options);
+  const rmw_publisher_options_t * const pub_options,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 rmw_ret_t
 rmw_connextdds_get_datareader_qos(
@@ -117,7 +118,8 @@ rmw_connextdds_get_datareader_qos(
   DDS_TopicDescription * const topic_desc,
   DDS_DataReaderQos * const qos,
   const rmw_qos_profile_t * const qos_policies,
-  const rmw_subscription_options_t * const sub_options);
+  const rmw_subscription_options_t * const sub_options,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 DDS_DataWriter *
 rmw_connextdds_create_datawriter(
@@ -129,7 +131,8 @@ rmw_connextdds_create_datawriter(
   const bool internal,
   RMW_Connext_MessageTypeSupport * const type_support,
   DDS_Topic * const topic,
-  DDS_DataWriterQos * const dw_qos);
+  DDS_DataWriterQos * const dw_qos,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 DDS_DataReader *
 rmw_connextdds_create_datareader(
@@ -141,7 +144,8 @@ rmw_connextdds_create_datareader(
   const bool internal,
   RMW_Connext_MessageTypeSupport * const type_support,
   DDS_TopicDescription * const topic_desc,
-  DDS_DataReaderQos * const dr_qos);
+  DDS_DataReaderQos * const dr_qos,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 rmw_ret_t
 rmw_connextdds_write_message(

rmw_connextdds_common/include/rmw_connextdds/graph_cache.hpp

@@ -70,7 +70,8 @@ rmw_ret_t
 rmw_connextdds_graph_on_service_created(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Service * const svc);
+  RMW_Connext_Service * const svc,
+  const rosidl_type_hash_t * ser_type_hash);
 
 rmw_ret_t
 rmw_connextdds_graph_on_service_deleted(
@@ -82,7 +83,8 @@ rmw_ret_t
 rmw_connextdds_graph_on_client_created(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Client * const client);
+  RMW_Connext_Client * const client,
+  const rosidl_type_hash_t * ser_type_hash);
 
 rmw_ret_t
 rmw_connextdds_graph_on_client_deleted(

rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp

@@ -224,6 +224,24 @@ rmw_api_connextdds_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * clients_info);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * servers_info);
+
 /*****************************************************************************
  * Node API
  *****************************************************************************/

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -152,7 +152,8 @@ class RMW_Connext_Publisher
     const RMW_Connext_MessageType msg_type = RMW_CONNEXT_MESSAGE_USERDATA,
     const void * const intro_members = nullptr,
     const bool intro_members_cpp = false,
-    std::string * const type_name = nullptr);
+    std::string * const type_name = nullptr,
+    const rosidl_type_hash_t * ser_type_hash = nullptr);
 
   rmw_ret_t
   finalize();
@@ -417,7 +418,8 @@ class RMW_Connext_Subscriber
     std::string * const type_name = nullptr,
     const char * const cft_name = nullptr,
     const char * const cft_filter = nullptr,
-    RMW_Connext_Publisher * const related_pub = nullptr);
+    RMW_Connext_Publisher * const related_pub = nullptr,
+    const rosidl_type_hash_t * ser_type_hash = nullptr);
 
   rmw_ret_t
   finalize();
@@ -978,7 +980,8 @@ rmw_connextdds_get_readerwriter_qos(
   DDS_UserDataQosPolicy * const user_data,
   const rmw_qos_profile_t * const qos_policies,
   const rmw_publisher_options_t * const pub_options,
-  const rmw_subscription_options_t * const sub_options);
+  const rmw_subscription_options_t * const sub_options,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 rmw_ret_t
 rmw_connextdds_readerwriter_qos_to_ros(

rmw_connextdds_common/src/common/rmw_graph.cpp

@@ -41,7 +41,8 @@ rmw_connextdds_graph_add_entityEA(
   const DDS_LivelinessQosPolicy * const liveliness,
   const DDS_LifespanQosPolicy * const lifespan,
   const bool is_reader,
-  const bool local);
+  const bool local,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 static rmw_ret_t
 rmw_connextdds_graph_remove_entityEA(
@@ -53,13 +54,15 @@ static rmw_ret_t
 rmw_connextdds_graph_add_local_publisherEA(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Publisher * const pub);
+  RMW_Connext_Publisher * const pub,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 static rmw_ret_t
 rmw_connextdds_graph_add_local_subscriberEA(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Subscriber * const sub);
+  RMW_Connext_Subscriber * const sub,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 rmw_ret_t
 rmw_connextdds_graph_initialize(rmw_context_impl_t * const ctx)
@@ -431,7 +434,8 @@ rmw_ret_t
 rmw_connextdds_graph_on_service_created(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Service * const svc)
+  RMW_Connext_Service * const svc,
+  const rosidl_type_hash_t * ser_type_hash)
 {
   std::lock_guard<std::mutex> guard(ctx->common_mutex);
   const rmw_gid_t pub_gid = *svc->publisher()->gid(),
@@ -454,14 +458,14 @@ rmw_connextdds_graph_on_service_created(
     });
 
   rmw_ret_t rc = rmw_connextdds_graph_add_local_subscriberEA(
-    ctx, node, svc->subscriber());
+    ctx, node, svc->subscriber(), ser_type_hash);
   if (RMW_RET_OK != rc) {
     return rc;
   }
   // set it so that it can be removed in the `scope_exit_entities_reset`
   added_sub = true;
 
-  rc = rmw_connextdds_graph_add_local_publisherEA(ctx, node, svc->publisher());
+  rc = rmw_connextdds_graph_add_local_publisherEA(ctx, node, svc->publisher(), ser_type_hash);
   if (RMW_RET_OK != rc) {
     return rc;
   }
@@ -509,7 +513,8 @@ rmw_ret_t
 rmw_connextdds_graph_on_client_created(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Client * const client)
+  RMW_Connext_Client * const client,
+  const rosidl_type_hash_t * ser_type_hash)
 {
   std::lock_guard<std::mutex> guard(ctx->common_mutex);
   const rmw_gid_t pub_gid = *client->publisher()->gid(),
@@ -532,13 +537,13 @@ rmw_connextdds_graph_on_client_created(
     });
 
   rmw_ret_t rc = rmw_connextdds_graph_add_local_subscriberEA(
-    ctx, node, client->subscriber());
+    ctx, node, client->subscriber(), ser_type_hash);
   if (RMW_RET_OK != rc) {
     return rc;
   }
   added_sub = true;
 
-  rc = rmw_connextdds_graph_add_local_publisherEA(ctx, node, client->publisher());
+  rc = rmw_connextdds_graph_add_local_publisherEA(ctx, node, client->publisher(), ser_type_hash);
   if (RMW_RET_OK != rc) {
     return rc;
   }
@@ -666,7 +671,8 @@ rmw_connextdds_graph_add_entityEA(
   const DDS_LivelinessQosPolicy * const liveliness,
   const DDS_LifespanQosPolicy * const lifespan,
   const bool is_reader,
-  const bool local)
+  const bool local,
+  const rosidl_type_hash_t * ser_type_hash)
 {
   UNUSED_ARG(local);
   rmw_gid_t gid;
@@ -723,7 +729,8 @@ rmw_connextdds_graph_add_entityEA(
       type_hash,
       dp_gid,
       qos_profile,
-      is_reader))
+      is_reader,
+      ser_type_hash))
   {
     // This is downgraded to a debug message because we might
     // enter this path when asserting entities from discovery.
@@ -755,7 +762,8 @@ rmw_ret_t
 rmw_connextdds_graph_add_local_publisherEA(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Publisher * const pub)
+  RMW_Connext_Publisher * const pub,
+  const rosidl_type_hash_t * ser_type_hash)
 {
   UNUSED_ARG(node);
   RMW_CONNEXT_LOG_DEBUG_A(
@@ -820,14 +828,16 @@ rmw_connextdds_graph_add_local_publisherEA(
     nullptr /* Micro doesn't support LifespanQosPolicy */,
 #endif /* RMW_CONNEXT_DDS_API */
     false /* is_reader */,
-    true /* local */);
+    true /* local */,
+    ser_type_hash);
 }
 
 rmw_ret_t
 rmw_connextdds_graph_add_local_subscriberEA(
   rmw_context_impl_t * const ctx,
   const rmw_node_t * const node,
-  RMW_Connext_Subscriber * const sub)
+  RMW_Connext_Subscriber * const sub,
+  const rosidl_type_hash_t * ser_type_hash)
 {
   UNUSED_ARG(node);
   RMW_CONNEXT_LOG_DEBUG_A(
@@ -888,7 +898,8 @@ rmw_connextdds_graph_add_local_subscriberEA(
     &dr_qos.liveliness,
     nullptr /* Lifespan is a writer-only qos policy */,
     true /* is_reader */,
-    true /* local */);
+    true /* local */,
+    ser_type_hash);
 }
 
 rmw_ret_t
@@ -932,6 +943,13 @@ rmw_connextdds_graph_add_remote_entity(
     // We handled the error, so clear it out
     rmw_reset_error();
   }
+  rosidl_type_hash_t ser_type_hash;
+  rosidl_type_hash_t * ser_type_hash_ptr = nullptr;
+  if (RMW_RET_OK == rmw_dds_common::parse_sertype_hash_from_user_data(
+      reinterpret_cast<const uint8_t *>(user_data_data), user_data_size, ser_type_hash))
+  {
+    ser_type_hash_ptr = &ser_type_hash;
+  }
 
   rmw_ret_t rc = rmw_connextdds_graph_add_entityEA(
     ctx,
@@ -947,7 +965,8 @@ rmw_connextdds_graph_add_remote_entity(
     liveliness,
     lifespan,
     is_reader,
-    false /* local */);
+    false /* local */,
+    ser_type_hash_ptr);
   if (RMW_RET_OK != rc) {
     return rc;
   }