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Add type_hash to cpp TopicEndpointInfo #2137

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merged 4 commits into from
Apr 12, 2023
Merged

Add type_hash to cpp TopicEndpointInfo #2137

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aa7cdf8
Add type_hash to cpp TopicEndpointInfo
emersonknapp Mar 21, 2023
1ca1bfd
WIP adding a test
emersonknapp Mar 23, 2023
2a08de5
Fix test
emersonknapp Mar 29, 2023
7a8eb05
Use C type hash
emersonknapp Apr 4, 2023
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14 changes: 13 additions & 1 deletion rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,8 @@ class TopicEndpointInfo
node_namespace_(info.node_namespace),
topic_type_(info.topic_type),
endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile)
qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile),
topic_type_hash_(info.topic_type_hash)
{
std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
}
Expand Down Expand Up @@ -122,13 +123,24 @@ class TopicEndpointInfo
const rclcpp::QoS &
qos_profile() const;

/// Get a mutable reference to the type hash of the topic endpoint.
RCLCPP_PUBLIC
rosidl_type_hash_t &
topic_type_hash();

/// Get a const reference to the type hash of the topic endpoint.
RCLCPP_PUBLIC
const rosidl_type_hash_t &
topic_type_hash() const;

private:
std::string node_name_;
std::string node_namespace_;
std::string topic_type_;
rclcpp::EndpointType endpoint_type_;
std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
rclcpp::QoS qos_profile_;
rosidl_type_hash_t topic_type_hash_;
};

namespace node_interfaces
Expand Down
12 changes: 12 additions & 0 deletions rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -789,3 +789,15 @@ rclcpp::TopicEndpointInfo::qos_profile() const
{
return qos_profile_;
}

rosidl_type_hash_t &
rclcpp::TopicEndpointInfo::topic_type_hash()
{
return topic_type_hash_;
}

const rosidl_type_hash_t &
rclcpp::TopicEndpointInfo::topic_type_hash() const
{
return topic_type_hash_;
}
13 changes: 13 additions & 0 deletions rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
#include "rclcpp/node_interfaces/node_graph.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcutils/strdup.h"
#include "test_msgs/msg/empty.h"
#include "test_msgs/msg/empty.hpp"
#include "test_msgs/srv/empty.hpp"

Expand Down Expand Up @@ -599,6 +600,18 @@ TEST_F(TestNodeGraph, get_info_by_topic)
rclcpp::QoS const_actual_qos = const_publisher_endpoint_info.qos_profile();
EXPECT_EQ(const_actual_qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);

const rosidl_type_hash_t expected_type_hash = *test_msgs__msg__Empty__get_type_hash(nullptr);
EXPECT_EQ(
0, memcmp(
&publisher_endpoint_info.topic_type_hash(),
&expected_type_hash,
sizeof(rosidl_type_hash_t)));
EXPECT_EQ(
0, memcmp(
&const_publisher_endpoint_info.topic_type_hash(),
&expected_type_hash,
sizeof(rosidl_type_hash_t)));

auto endpoint_gid = publisher_endpoint_info.endpoint_gid();
auto const_endpoint_gid = const_publisher_endpoint_info.endpoint_gid();
bool endpoint_gid_is_all_zeros = true;
Expand Down