Type hash distribution during discovery (rep2011)

rmw_connextdds_common/include/rmw_connextdds/graph_cache.hpp

@@ -111,6 +111,7 @@ rmw_connextdds_graph_add_remote_entity(
   const DDS_GUID_t * const dp_guid,
   const char * const topic_name,
   const char * const type_name,
+  const DDS_UserDataQosPolicy * const user_data,
   const DDS_ReliabilityQosPolicy * const reliability,
   const DDS_DurabilityQosPolicy * const durability,
   const DDS_DeadlineQosPolicy * const deadline,

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -811,6 +811,7 @@ rmw_connextdds_get_readerwriter_qos(
   DDS_ResourceLimitsQosPolicy * const resource_limits,
   DDS_PublishModeQosPolicy * const publish_mode,
   DDS_LifespanQosPolicy * const lifespan,
+  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);

rmw_connextdds_common/include/rmw_connextdds/type_support.hpp

@@ -20,6 +20,8 @@
 
 #include "rmw_connextdds/context.hpp"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 #include "rosidl_typesupport_fastrtps_c/identifier.h"
 #include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"
 #include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
@@ -82,6 +84,11 @@ class RMW_Connext_MessageTypeSupport
     return this->_type_name.c_str();
   }
 
+  const rosidl_type_hash_t & type_hash() const
+  {
+    return *_type_support_fastrtps->type_hash;
+  }
+
   uint32_t type_serialized_size_max() const
   {
     return this->_serialized_size_max;

rmw_connextdds_common/src/common/rmw_graph.cpp

@@ -17,6 +17,8 @@
 #include "rmw_connextdds/discovery.hpp"
 #include "rmw_connextdds/graph_cache.hpp"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 // Aliases for rmw.h functions referenced by rmw_dds_common inline functions
 #define rmw_publish     rmw_api_connextdds_publish
 
@@ -27,6 +29,7 @@ rmw_connextdds_graph_add_entityEA(
   const DDS_GUID_t * const dp_guid,
   const char * const topic_name,
   const char * const type_name,
+  const rosidl_type_hash_t & type_hash,
   const DDS_HistoryQosPolicy * const history,
   const DDS_ReliabilityQosPolicy * const reliability,
   const DDS_DurabilityQosPolicy * const durability,
@@ -727,6 +730,7 @@ rmw_connextdds_graph_add_entityEA(
   const DDS_GUID_t * const dp_guid,
   const char * const topic_name,
   const char * const type_name,
+  const rosidl_type_hash_t & type_hash,
   const DDS_HistoryQosPolicy * const history,
   const DDS_ReliabilityQosPolicy * const reliability,
   const DDS_DurabilityQosPolicy * const durability,
@@ -788,6 +792,7 @@ rmw_connextdds_graph_add_entityEA(
       gid,
       std::string(topic_name),
       std::string(type_name),
+      type_hash,
       dp_gid,
       qos_profile,
       is_reader))
@@ -875,6 +880,7 @@ rmw_connextdds_graph_add_local_publisherEA(
     &dp_guid,
     topic_name,
     pub->message_type_support()->type_name(),
+    pub->message_type_support()->type_hash(),
     &dw_qos.history,
     &dw_qos.reliability,
     &dw_qos.durability,
@@ -946,6 +952,7 @@ rmw_connextdds_graph_add_local_subscriberEA(
     &dp_guid,
     topic_name,
     sub->message_type_support()->type_name(),
+    sub->message_type_support()->type_hash(),
     &dr_qos.history,
     &dr_qos.reliability,
     &dr_qos.durability,
@@ -963,6 +970,7 @@ rmw_connextdds_graph_add_remote_entity(
   const DDS_GUID_t * const dp_guid,
   const char * const topic_name,
   const char * const type_name,
+  const DDS_UserDataQosPolicy * const user_data,
   const DDS_ReliabilityQosPolicy * const reliability,
   const DDS_DurabilityQosPolicy * const durability,
   const DDS_DeadlineQosPolicy * const deadline,
@@ -982,12 +990,26 @@ rmw_connextdds_graph_add_remote_entity(
     return RMW_RET_OK;
   }
 
+  const uint8_t * user_data_data = DDS_OctetSeq_get_contiguous_buffer(&user_data->value);
+  const size_t user_data_size = DDS_OctetSeq_get_length(&user_data->value);
+  rosidl_type_hash_t type_hash;
+  if (RMW_RET_OK != rmw_dds_common::parse_type_hash_from_user_data(
+      user_data_data, user_data_size, type_hash))
+  {
+    RMW_CONNEXT_LOG_WARNING_A(
+      "Failed to parse type hash for topic '%s' with type '%s' from USER_DATA '%*s'.",
+      topic_name, type_name,
+      static_cast<int>(user_data_size), reinterpret_cast<const char *>(user_data_data));
+    type_hash = rosidl_get_zero_initialized_type_hash();
+  }
+
   rmw_ret_t rc = rmw_connextdds_graph_add_entityEA(
     ctx,
     endp_guid,
     dp_guid,
     topic_name,
     type_name,
+    type_hash,
     nullptr /* history (not propagated via discovery) */,
     reliability,
     durability,

rmw_connextdds_common/src/common/rmw_impl.cpp

@@ -20,6 +20,7 @@
 #include <stdexcept>
 
 #include "rmw_dds_common/time_utils.hpp"
+#include "rmw_dds_common/qos.hpp"
 
 #include "rmw_connextdds/graph_cache.hpp"
 
@@ -303,12 +304,12 @@ rmw_connextdds_get_readerwriter_qos(
   DDS_ResourceLimitsQosPolicy * const resource_limits,
   DDS_PublishModeQosPolicy * const publish_mode,
   DDS_LifespanQosPolicy * const lifespan,
+  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)
 {
   UNUSED_ARG(writer_qos);
-  UNUSED_ARG(type_support);
   UNUSED_ARG(publish_mode);
   UNUSED_ARG(resource_limits);
   UNUSED_ARG(pub_options);
@@ -454,6 +455,19 @@ rmw_connextdds_get_readerwriter_qos(
   }
 #endif /* RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO */
 
+  std::string user_data_str;
+  if (RMW_RET_OK != rmw_dds_common::encode_type_hash_for_user_data_qos(
+      type_support->type_hash(), user_data_str))
+  {
+    RMW_CONNEXT_LOG_WARNING(
+      "Failed to encode type hash for topic, will not distribute it in USER_DATA.");
+    user_data_str.clear();
+  }
+  DDS_OctetSeq_from_array(
+    &user_data->value,
+    reinterpret_cast<const uint8_t *>(user_data_str.c_str()),
+    static_cast<DDS_Long>(user_data_str.size()));
+
   return RMW_RET_OK;
 }
 

rmw_connextdds_common/src/ndds/dds_api_ndds.cpp

@@ -504,6 +504,7 @@ rmw_connextdds_get_datawriter_qos(
         // TODO(asorbini) this value is not actually used, remove it
         &qos->publish_mode,
         &qos->lifespan,
+        &qos->user_data,
         qos_policies,
         pub_options,
         nullptr /* sub_options */))
@@ -593,6 +594,7 @@ rmw_connextdds_get_datareader_qos(
         &qos->resource_limits,
         nullptr /* publish_mode */,
         nullptr /* Lifespan is a writer-only qos policy */,
+        &qos->user_data,
         qos_policies,
         nullptr /* pub_options */,
         sub_options))
@@ -1219,6 +1221,7 @@ rmw_connextdds_dcps_publication_on_data(rmw_context_impl_t * const ctx)
         &dp_guid,
         data->topic_name,
         data->type_name,
+        &data->user_data,
         &data->reliability,
         &data->durability,
         &data->deadline,
@@ -1302,6 +1305,7 @@ rmw_connextdds_dcps_subscription_on_data(rmw_context_impl_t * const ctx)
         &dp_guid,
         data->topic_name,
         data->type_name,
+        &data->user_data,
         &data->reliability,
         &data->durability,
         &data->deadline,

rmw_connextdds_common/src/rtime/dds_api_rtime.cpp

@@ -1015,6 +1015,7 @@ rmw_connextdds_get_datawriter_qos(
       &qos->resource_limits,
       &qos->publish_mode,
       nullptr /* Micro doesn't support DDS_LifespanQosPolicy */,
+      &qos->user_data,
       qos_policies,
       pub_options,
       nullptr /* sub_options */))
@@ -1064,6 +1065,7 @@ rmw_connextdds_get_datareader_qos(
       &qos->resource_limits,
       nullptr /* publish_mode */,
       nullptr /* Lifespan is a writer-only qos policy */,
+      &qos->user_data,
       qos_policies,
       nullptr /* pub_options */,
       sub_options))
@@ -1766,6 +1768,7 @@ rmw_connextdds_dcps_publication_on_data(rmw_context_impl_t * const ctx)
         &dp_guid,
         qdata.data.topic_name,
         qdata.data.type_name,
+        &data->user_data,
         &qdata.data.reliability,
         &qdata.data.durability,
         &qdata.data.deadline,
@@ -1824,6 +1827,7 @@ rmw_connextdds_dcps_subscription_on_data(rmw_context_impl_t * const ctx)
         &dp_guid,
         qdata.data.topic_name,
         qdata.data.type_name,
+        &data->user_data,
         &qdata.data.reliability,
         &qdata.data.durability,
         &qdata.data.deadline,