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Align on Transport GID and Liveliness GUID #291

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Align on Transport GID and Liveliness GUID #291

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7c95177
Align on Transport GID and Liveliness GUID
ahcorde Oct 4, 2024
e4268f3
make linters happy
ahcorde Oct 4, 2024
ac83520
make linters happy
ahcorde Oct 4, 2024
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21 changes: 20 additions & 1 deletion rmw_zenoh_cpp/src/detail/graph_cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1208,7 +1208,26 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
}
}

// TODO(Yadunund): Set gid.
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);
Comment on lines +1211 to +1220
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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).


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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10 changes: 10 additions & 0 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
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Expand Up @@ -590,6 +590,16 @@ std::size_t Entity::guid() const
return this->guid_;
}

///=============================================================================
void Entity::get_gid(uint8_t gid[RMW_GID_STORAGE_SIZE]) const
{
std::vector<uint8_t> guid_bytes(sizeof(this->guid_));
memcpy(guid_bytes.data(), &this->guid_, sizeof(this->guid_));
for (size_t i = 0; i < guid_bytes.size(); ++i) {
gid[i] = guid_bytes[i];
}
}

///=============================================================================
EntityType Entity::type() const
{
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6 changes: 6 additions & 0 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
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Expand Up @@ -153,6 +153,12 @@ class Entity
// This is named guid and not gid to remain distinct as it is not of type rmw_gid_t.
std::size_t guid() const;

// Generate the 16byte GID from the keyexpr guid
// 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;


/// Get the entity type.
EntityType type() const;

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