Align on Transport GID and Liveliness GUID #291
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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Yadunund
requested changes
Oct 4, 2024
Comment on lines
+1211
to
+1220
| liveliness::ConstEntityPtr entity; | ||
| if (entity_type == EntityType::Publisher) { | ||
| entity = (*topic_data->pubs_.begin()); | ||
| } else { | ||
| entity = (*topic_data->subs_.begin()); | ||
| } | ||
|
|
||
| if (entity) { | ||
| uint8_t gid[RMW_GID_STORAGE_SIZE]; | ||
| entity->get_gid(gid); |
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Should we iterate though all the Entity ptrs in the EnittySet?
const auto & entity_set = entity_type == EntityType::Publisher? topic_data->pubs_ : topic_data->subs_;
for (auto entity_it = entity_set.begin(); entity_it != entity_set.end(); ++entity_it) {
uint8_t gid[RMW_GID_STORAGE_SIZE];
entity->get_gid(gid);
ret = rmw_topic_endpoint_info_set_gid(
&endpoint_info,
gid,
RMW_GID_STORAGE_SIZE
);
if (RMW_RET_OK != ret) {
return ret;
}
}
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If we iterate over the list, then it will override the gid value (if there is more than one).
| // The size of guid is std::size_t. It can vary depending on the platform and architecture. | ||
| // On most 32-bit systems, it is usually 32 bits, while on 64-bit systems, | ||
| // it is typically 64 bits. It fit in the RMW_GID_STORAGE_SIZE. | ||
| void get_gid(uint8_t gid[RMW_GID_STORAGE_SIZE]) const; |
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Nit: To be consistent with naming of other getters.
Suggested change
| void get_gid(uint8_t gid[RMW_GID_STORAGE_SIZE]) const; | |
| void gid(uint8_t gid[RMW_GID_STORAGE_SIZE]) const; |
|
I'm a little later here, but please see #290 (comment) for some of my thoughts. |
This was referenced Oct 10, 2024
|
Closing in favor of #298 . |
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Related with #290 and #148
This PR makes
test_node_interfaces__node_graphfrom rclcpp to pass.