Add get_clients_info_by_service and get_servers_info_by_service; introduce ServiceEntityInfo to handle service type hash in graph cache

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

Author: leeminju531

rmw_dds_common/include/rmw_dds_common/graph_cache.hpp

@@ -26,6 +26,8 @@
 #include "rcutils/logging_macros.h"
 
 #include "rmw/names_and_types.h"
+#include "rmw/service_endpoint_info.h"
+#include "rmw/service_endpoint_info_array.h"
 #include "rmw/topic_endpoint_info.h"
 #include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
@@ -42,6 +44,7 @@ namespace rmw_dds_common
 // Forward-declaration, defined at end of file.
 struct EntityInfo;
 struct ParticipantInfo;
+struct ServiceEntityInfo;
 
 /// Graph cache data structure.
 /**
@@ -86,6 +89,8 @@ class GraphCache
    * \param type_hash Hash of the description of the topic type.
    * \param participant_gid GUID of the participant.
    * \param qos QoS profile of the data writer.
+   * \param service_type_hash Optional pointer to the service type hash,
+   *  used when the writer is part of a service (e.g., request or reply topic)
    * \return `true` if the cache was updated, `false` if the data writer
    *   was already present.
    */
@@ -97,7 +102,8 @@ class GraphCache
     const std::string & type_name,
     const rosidl_type_hash_t & type_hash,
     const rmw_gid_t & participant_gid,
-    const rmw_qos_profile_t & qos);
+    const rmw_qos_profile_t & qos,
+    const rosidl_type_hash_t * service_type_hash = nullptr);
 
   /// Add a data reader based on discovery.
   /**
@@ -107,6 +113,8 @@ class GraphCache
    * \param type_hash Hash of the description of the topic type.
    * \param participant_gid GUID of the participant.
    * \param qos QoS profile of the data reader.
+   * \param service_type_hash Optional pointer to the service type hash,
+   *  used when the reader is part of a service (e.g., request or reply topic)
    * \return `true` if the cache was updated, `false` if the data reader
    *   was already present.
    */
@@ -118,7 +126,8 @@ class GraphCache
     const std::string & type_name,
     const rosidl_type_hash_t & type_hash,
     const rmw_gid_t & participant_gid,
-    const rmw_qos_profile_t & qos);
+    const rmw_qos_profile_t & qos,
+    const rosidl_type_hash_t * service_type_hash = nullptr);
 
   /// Add a data reader or writer.
   /**
@@ -129,6 +138,8 @@ class GraphCache
    * \param participant_gid GUID of the participant.
    * \param qos QoS profile of the entity.
    * \param is_reader Whether the entity is a data reader or a writer.
+   * \param service_type_hash Optional pointer to the service type hash,
+   *  used when the entity is part of a service (e.g., request or reply topic)
    * \return `true` if the cache was updated, `false` if the entity
    *   was already present.
    */
@@ -141,7 +152,8 @@ class GraphCache
     const rosidl_type_hash_t & type_hash,
     const rmw_gid_t & participant_gid,
     const rmw_qos_profile_t & qos,
-    bool is_reader);
+    bool is_reader,
+    const rosidl_type_hash_t * service_type_hash = nullptr);
 
   /// Remove a data writer.
   /**
@@ -399,6 +411,46 @@ class GraphCache
     rcutils_allocator_t * allocator,
     rmw_topic_endpoint_info_array_t * endpoints_info) const;
 
+  /// Get an array with information about the clients for a service.
+  /**
+   * \param[in] readers_info array containing data readers for the service’s reply topic.
+   * \param[in] writers_info array containing data writers for the service’s request topic.
+   * \param[in] allocator Allocator to allocate memory when populating `endpoints_info`.
+   * \param[out] endpoints_info A zero-initialized service endpoint information
+   *  array to be populated with client information derived from the topic readers and writers.
+   *
+   * \return RMW_RET_INVALID_ARGUMENT if any input is null, or
+   * \return RMW_RET_ERROR if an unexpected error occurs, or
+   * \return RMW_RET_OK if successful.
+   */
+  RMW_DDS_COMMON_PUBLIC
+  rmw_ret_t
+  get_clients_info_by_service(
+    const rmw_topic_endpoint_info_array_t * readers_info,
+    const rmw_topic_endpoint_info_array_t * writers_info,
+    rcutils_allocator_t * allocator,
+    rmw_service_endpoint_info_array_t * endpoints_info) const;
+
+  /// Get an array with information about the servers for a service.
+  /**
+   * \param[in] readers_info array containing data readers for the service’s request topic.
+   * \param[in] writers_info array containing data writers for the service’s reply topic.
+   * \param[in] allocator Allocator to allocate memory when populating `endpoints_info`.
+   * \param[out] endpoints_info A zero-initialized service endpoint information array
+   *  to be populated with server information derived from the topic readers and writers.
+   *
+   * \return RMW_RET_INVALID_ARGUMENT if any input is null, or
+   * \return RMW_RET_ERROR if an unexpected error occurs, or
+   * \return RMW_RET_OK if successful.
+   */
+  RMW_DDS_COMMON_PUBLIC
+  rmw_ret_t
+  get_servers_info_by_service(
+    const rmw_topic_endpoint_info_array_t * readers_info,
+    const rmw_topic_endpoint_info_array_t * writers_info,
+    rcutils_allocator_t * allocator,
+    rmw_service_endpoint_info_array_t * endpoints_info) const;
+
   /// Get all topic names and types.
   /**
    * \param[in] demangle_topic Function to demangle DDS topic names.
@@ -519,10 +571,14 @@ class GraphCache
   /// Sequence of endpoints gids.
   using GidSeq =
     decltype(std::declval<rmw_dds_common::msg::NodeEntitiesInfo>().writer_gid_seq);
+  /// \internal
+  /// Map from endpoint gids to service endpoints discovery info.
+  using EntityGidToServiceInfo = std::map<rmw_gid_t, ServiceEntityInfo, Compare_rmw_gid_t>;
 
 private:
   EntityGidToInfo data_writers_;
   EntityGidToInfo data_readers_;
+  EntityGidToServiceInfo data_services_;
   ParticipantToNodesMap participants_;
   std::function<void()> on_change_callback_ = nullptr;
 
@@ -571,6 +627,20 @@ struct EntityInfo
   {}
 };
 
+/// Structure to represent the service discovery data from an endpoint (data reader or writer).
+struct ServiceEntityInfo
+{
+  /// Hash of the associated service type, if applicable.
+  /// This field is used to associate endpoints (readers or writers) that form a service,
+  /// whether the middleware explicitly supports services or represents them as separate topics.
+  /// See: https://github.com/ros2/rmw/pull/371#issuecomment-2763634820
+  rosidl_type_hash_t service_type_hash;
+
+  explicit ServiceEntityInfo(const rosidl_type_hash_t & service_type_hash)
+  : service_type_hash(service_type_hash)
+  {}
+};
+
 }  // namespace rmw_dds_common
 
 #endif  // RMW_DDS_COMMON__GRAPH_CACHE_HPP_

rmw_dds_common/include/rmw_dds_common/qos.hpp

@@ -255,6 +255,37 @@ encode_type_hash_for_user_data_qos(
   const rosidl_type_hash_t & type_hash,
   std::string & string_out);
 
+/// Parse USER_DATA "key=value;key=value;"" encoding, finding value of key "sertypehash"
+/**
+ * \param[in] user_data USER_DATA qos raw bytes
+ * \param[in] user_data_size Length of user_data
+ * \param[out] type_hash_out Filled with type hash data if found, or to zero value if key not found
+ * \return RMW_RET_OK if key parsed successfully
+ * \return RMW_RET_UNSUPPORTED if key not found
+ * \return RMW_RET_INVALID_ARGUMENT if user_data is null
+ * \return RMW_RET_ERROR if sertypehash key found, but value could not be parsed
+ */
+RMW_DDS_COMMON_PUBLIC
+rmw_ret_t
+parse_sertype_hash_from_user_data(
+  const uint8_t * user_data,
+  size_t user_data_size,
+  rosidl_type_hash_t & type_hash_out);
+
+/// Encode type hash as "sertypehash=hash_string;" for use in USER_DATA QoS
+/**
+ * \param[in] type_hash Type hash value to encode
+ * \param[out] string_out On success, will be set to "sertypehash=stringified_type_hash;"
+ *   If type_hash's version is 0, string_out will be set to empty
+ * \return RMW_RET_OK on success, including empty string for unset version
+ * \return RMW_RET_BAD_ALLOC if memory allocation fails
+ */
+RMW_DDS_COMMON_PUBLIC
+rmw_ret_t
+encode_sertype_hash_for_user_data_qos(
+  const rosidl_type_hash_t & type_hash,
+  std::string & string_out);
+
 }  // namespace rmw_dds_common
 
 #endif  // RMW_DDS_COMMON__QOS_HPP_