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Expose rosidl buffer backend metadata in TopicEndpointInfo #3165

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Expose rosidl buffer backend metadata in TopicEndpointInfo #3165

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21 changes: 21 additions & 0 deletions 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 @@ -69,6 +69,16 @@ class TopicEndpointInfo
topic_type_ = info.topic_type;

std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());

const char * current_key = rcutils_string_map_get_next_key(
&info.buffer_backend_metadata, nullptr);
while (current_key) {
const char * current_value = rcutils_string_map_get(
&info.buffer_backend_metadata, current_key);
buffer_backend_metadata_[current_key] = current_value ? current_value : "";
current_key = rcutils_string_map_get_next_key(
&info.buffer_backend_metadata, current_key);
}
}

/// Get a mutable reference to the node name.
Expand Down Expand Up @@ -141,6 +151,16 @@ class TopicEndpointInfo
const rosidl_type_hash_t &
topic_type_hash() const;

/// Get a mutable reference to the buffer backend metadata.
RCLCPP_PUBLIC
std::map<std::string, std::string> &
buffer_backend_metadata();

/// Get a const reference to the buffer backend metadata.
RCLCPP_PUBLIC
const std::map<std::string, std::string> &
buffer_backend_metadata() const;

private:
std::string node_name_;
std::string node_namespace_;
Expand All @@ -149,6 +169,7 @@ class TopicEndpointInfo
std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
rclcpp::QoS qos_profile_;
rosidl_type_hash_t topic_type_hash_;
std::map<std::string, std::string> buffer_backend_metadata_;
};

/**
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 @@ -956,6 +956,18 @@ rclcpp::TopicEndpointInfo::topic_type_hash() const
return topic_type_hash_;
}

std::map<std::string, std::string> &
rclcpp::TopicEndpointInfo::buffer_backend_metadata()
{
return buffer_backend_metadata_;
}

const std::map<std::string, std::string> &
rclcpp::TopicEndpointInfo::buffer_backend_metadata() const
{
return buffer_backend_metadata_;
}

std::string &
rclcpp::ServiceEndpointInfo::node_name()
{
Expand Down