Type hash in GraphCache, user_data encoding tools

rmw_dds_common/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 
 ament_add_default_options()
 ament_export_dependencies(ament_cmake_core)
@@ -44,7 +45,8 @@ target_link_libraries(${PROJECT_NAME}_library PUBLIC
   rcutils::rcutils
   rmw::rmw)
 target_link_libraries(${PROJECT_NAME}_library PRIVATE
-  rcpputils::rcpputils)
+  rcpputils::rcpputils
+  rosidl_runtime_c::rosidl_runtime_c)
 target_include_directories(${PROJECT_NAME}_library
   PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -95,7 +97,8 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_graph_cache test/test_graph_cache.cpp)
   if(TARGET test_graph_cache)
-    target_link_libraries(test_graph_cache ${PROJECT_NAME}_library osrf_testing_tools_cpp::memory_tools)
+    target_link_libraries(test_graph_cache
+      ${PROJECT_NAME}_library osrf_testing_tools_cpp::memory_tools rosidl_runtime_c::rosidl_runtime_c)
     target_compile_definitions(test_graph_cache PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
@@ -106,7 +109,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_qos test/test_qos.cpp)
   if(TARGET test_qos)
-    target_link_libraries(test_qos ${PROJECT_NAME}_library osrf_testing_tools_cpp::memory_tools)
+    target_link_libraries(test_qos ${PROJECT_NAME}_library osrf_testing_tools_cpp::memory_tools rcpputils::rcpputils)
   endif()
 
   ament_add_gmock(test_time_utils test/test_time_utils.cpp)
@@ -123,7 +126,7 @@ if(BUILD_TESTING)
 
   add_performance_test(benchmark_graph_cache test/benchmark/benchmark_graph_cache.cpp)
   if(TARGET benchmark_graph_cache)
-    target_link_libraries(benchmark_graph_cache ${PROJECT_NAME}_library)
+    target_link_libraries(benchmark_graph_cache ${PROJECT_NAME}_library rosidl_runtime_c::rosidl_runtime_c)
   endif()
 endif()
 

rmw_dds_common/include/rmw_dds_common/graph_cache.hpp

@@ -78,18 +78,35 @@ class GraphCache
    * @{
    */
 
-  /// Add a data writer.
+  /// Add a data writer based on discovery.
   /**
    * \param writer_gid GUID of the data writer.
    * \param topic_name Name of the DDS topic for this data writer.
    * \param type_name Type name of the DDS topic for this data writer.
+   * \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.
    * \return `true` if the cache was updated, `false` if the data writer
    *   was already present.
    */
   RMW_DDS_COMMON_PUBLIC
   bool
+  add_writer(
+    const rmw_gid_t & writer_gid,
+    const std::string & topic_name,
+    const std::string & type_name,
+    const rosidl_type_hash_t & type_hash,
+    const rmw_gid_t & participant_gid,
+    const rmw_qos_profile_t & qos);
+
+  /// Add a data writer based on discovery.
+  /**
+   * See add_reader with rosidl_type_hash_t, whose other parameters match these.
+   */
+  RMW_DDS_COMMON_PUBLIC
+    RCUTILS_DEPRECATED_WITH_MSG(
+    "Migrate to using the version of this function taking a type hash.")
+  bool
   add_writer(
     const rmw_gid_t & writer_gid,
     const std::string & topic_name,
@@ -102,13 +119,30 @@ class GraphCache
    * \param reader_gid GUID of the The data reader.
    * \param topic_name Name of the DDS topic for this data reader.
    * \param type_name Type name of the DDS topic for this data reader.
+   * \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.
    * \return `true` if the cache was updated, `false` if the data reader
    *   was already present.
    */
   RMW_DDS_COMMON_PUBLIC
   bool
+  add_reader(
+    const rmw_gid_t & reader_gid,
+    const std::string & topic_name,
+    const std::string & type_name,
+    const rosidl_type_hash_t & type_hash,
+    const rmw_gid_t & participant_gid,
+    const rmw_qos_profile_t & qos);
+
+  /// Add a data reader based on discovery.
+  /**
+   * See add_reader with rosidl_type_hash_t, whose other parameters match these.
+   */
+  RMW_DDS_COMMON_PUBLIC
+    RCUTILS_DEPRECATED_WITH_MSG(
+    "Migrate to using the version of this function taking a type hash.")
+  bool
   add_reader(
     const rmw_gid_t & reader_gid,
     const std::string & topic_name,
@@ -121,6 +155,7 @@ class GraphCache
    * \param gid GUID of the entity.
    * \param topic_name Name of the DDS topic for this data reader.
    * \param type_name Type name of the DDS topic for this entity
+   * \param type_hash Hash of the description of the topic type.
    * \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.
@@ -129,6 +164,23 @@ class GraphCache
    */
   RMW_DDS_COMMON_PUBLIC
   bool
+  add_entity(
+    const rmw_gid_t & gid,
+    const std::string & topic_name,
+    const std::string & type_name,
+    const rosidl_type_hash_t & type_hash,
+    const rmw_gid_t & participant_gid,
+    const rmw_qos_profile_t & qos,
+    bool is_reader);
+
+  /// Add a data reader or writer.
+  /**
+   * See add_entity with rosidl_type_hash_t, whose other parameters match these.
+   */
+  RMW_DDS_COMMON_PUBLIC
+    RCUTILS_DEPRECATED_WITH_MSG(
+    "Migrate to using the version of this function taking a type hash.")
+  bool
   add_entity(
     const rmw_gid_t & gid,
     const std::string & topic_name,
@@ -541,8 +593,10 @@ struct EntityInfo
 {
   /// Topic name.
   std::string topic_name;
-  /// Topic type.
+  /// Topic type name.
   std::string topic_type;
+  /// Topic type hash.
+  rosidl_type_hash_t topic_type_hash;
   /// Participant gid.
   rmw_gid_t participant_gid;
   /// Quality of service of the topic.
@@ -552,10 +606,12 @@ struct EntityInfo
   EntityInfo(
     const std::string & topic_name,
     const std::string & topic_type,
+    const rosidl_type_hash_t & topic_type_hash,
     const rmw_gid_t & participant_gid,
     const rmw_qos_profile_t & qos)
   : topic_name(topic_name),
     topic_type(topic_type),
+    topic_type_hash(topic_type_hash),
     participant_gid(participant_gid),
     qos(qos)
   {}

rmw_dds_common/include/rmw_dds_common/qos.hpp

@@ -16,6 +16,7 @@
 #define RMW_DDS_COMMON__QOS_HPP_
 
 #include <functional>
+#include <string>
 
 #include "rmw/qos_profiles.h"
 #include "rmw/topic_endpoint_info_array.h"
@@ -224,6 +225,36 @@ RMW_DDS_COMMON_PUBLIC
 rmw_qos_profile_t
 qos_profile_update_best_available_for_services(const rmw_qos_profile_t & qos_profile);
 
+/// Parse USER_DATA "key=value;key=value;"" encoding, finding value of key "typehash"
+/**
+ * \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, or if key not found
+ * \return RMW_RET_INVALID_ARGUMENT if user_data is null
+ * \return RMW_RET_ERROR if typehash key found, but value could not be parsed
+ */
+RMW_DDS_COMMON_PUBLIC
+rmw_ret_t
+parse_type_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 "typehash=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 "typehash=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_type_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_

rmw_dds_common/package.xml

@@ -20,6 +20,7 @@
   <depend>rcutils</depend>
   <depend>rcpputils</depend>
   <depend>rmw</depend>
+  <depend>rosidl_runtime_c</depend>
   <depend>rosidl_runtime_cpp</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>

rmw_dds_common/src/graph_cache.cpp

@@ -67,40 +67,77 @@ GraphCache::add_writer(
   const rmw_gid_t & gid,
   const std::string & topic_name,
   const std::string & type_name,
+  const rosidl_type_hash_t & type_hash,
   const rmw_gid_t & participant_gid,
   const rmw_qos_profile_t & qos)
 {
   std::lock_guard<std::mutex> guard(mutex_);
   auto pair = data_writers_.emplace(
     std::piecewise_construct,
     std::forward_as_tuple(gid),
-    std::forward_as_tuple(topic_name, type_name, participant_gid, qos));
+    std::forward_as_tuple(topic_name, type_name, type_hash, participant_gid, qos));
   GRAPH_CACHE_CALL_ON_CHANGE_CALLBACK_IF(this, pair.second);
   return pair.second;
 }
 
+bool
+GraphCache::add_writer(
+  const rmw_gid_t & gid,
+  const std::string & topic_name,
+  const std::string & type_name,
+  const rmw_gid_t & participant_gid,
+  const rmw_qos_profile_t & qos)
+{
+  return this->add_writer(
+    gid,
+    topic_name,
+    type_name,
+    rosidl_get_zero_initialized_type_hash(),
+    participant_gid,
+    qos);
+}
+
 bool
 GraphCache::add_reader(
   const rmw_gid_t & gid,
   const std::string & topic_name,
   const std::string & type_name,
+  const rosidl_type_hash_t & type_hash,
   const rmw_gid_t & participant_gid,
   const rmw_qos_profile_t & qos)
 {
   std::lock_guard<std::mutex> guard(mutex_);
   auto pair = data_readers_.emplace(
     std::piecewise_construct,
     std::forward_as_tuple(gid),
-    std::forward_as_tuple(topic_name, type_name, participant_gid, qos));
+    std::forward_as_tuple(topic_name, type_name, type_hash, participant_gid, qos));
   GRAPH_CACHE_CALL_ON_CHANGE_CALLBACK_IF(this, pair.second);
   return pair.second;
 }
 
+bool
+GraphCache::add_reader(
+  const rmw_gid_t & gid,
+  const std::string & topic_name,
+  const std::string & type_name,
+  const rmw_gid_t & participant_gid,
+  const rmw_qos_profile_t & qos)
+{
+  return this->add_reader(
+    gid,
+    topic_name,
+    type_name,
+    rosidl_get_zero_initialized_type_hash(),
+    participant_gid,
+    qos);
+}
+
 bool
 GraphCache::add_entity(
   const rmw_gid_t & gid,
   const std::string & topic_name,
   const std::string & type_name,
+  const rosidl_type_hash_t & type_hash,
   const rmw_gid_t & participant_gid,
   const rmw_qos_profile_t & qos,
   bool is_reader)
@@ -110,17 +147,38 @@ GraphCache::add_entity(
       gid,
       topic_name,
       type_name,
+      type_hash,
       participant_gid,
       qos);
   }
   return this->add_writer(
     gid,
     topic_name,
     type_name,
+    type_hash,
     participant_gid,
     qos);
 }
 
+bool
+GraphCache::add_entity(
+  const rmw_gid_t & gid,
+  const std::string & topic_name,
+  const std::string & type_name,
+  const rmw_gid_t & participant_gid,
+  const rmw_qos_profile_t & qos,
+  bool is_reader)
+{
+  return this->add_entity(
+    gid,
+    topic_name,
+    type_name,
+    rosidl_get_zero_initialized_type_hash(),
+    participant_gid,
+    qos,
+    is_reader);
+}
+
 bool
 GraphCache::remove_writer(const rmw_gid_t & gid)
 {
@@ -570,6 +628,13 @@ __get_entities_info_by_topic(
       return ret;
     }
 
+    ret = rmw_topic_endpoint_info_set_topic_type_hash(
+      &endpoint_info,
+      &entity_pair.second.topic_type_hash);
+    if (RMW_RET_OK != ret) {
+      return ret;
+    }
+
     ret = rmw_topic_endpoint_info_set_endpoint_type(
       &endpoint_info,
       is_reader ? RMW_ENDPOINT_SUBSCRIPTION : RMW_ENDPOINT_PUBLISHER);