Make ClientData thread-safe (#293)

* Make ClientData thread-safe * Handle queries in flight * Address some feedback * Fix service client type check * fix tracking of num in flight without UB * Additional fixes for yadu/raii-client. (#304) * Additional fixes for yadu/raii-client. * Apply suggestions from code review * Fixups. * Fix -Wnon-pod-varargs * Make PublisherData::copy_gid have the same signatures as others. This just makes it more consistent with the rest of the APIs. * Add api to init client * Vastly simplify handling of in-flight ClientData. We basically use the pointer as a key to lookup the shared_ptr, and then always use the shared_ptr. That ensures that even if the pointer was dropped from the node while the client callback is operating, it will still be valid and won't be destroyed until that method returns. Signed-off-by: Yadunund <[email protected]> Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Nov 12, 2024 · 91edead · 91edead
1 parent 00d8554
commit 91edead
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Showing 15 changed files with 901 additions and 807 deletions.
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
@@ -38,8 +38,8 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/logging.cpp
   src/detail/message_type_support.cpp
   src/detail/qos.cpp
+  src/detail/rmw_client_data.cpp
   src/detail/rmw_context_impl_s.cpp
-  src/detail/rmw_data_types.cpp
   src/detail/rmw_publisher_data.cpp
   src/detail/rmw_node_data.cpp
   src/detail/rmw_service_data.cpp

diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -36,7 +36,6 @@
 
 #include "graph_cache.hpp"
 #include "logging_macros.hpp"
-#include "rmw_data_types.hpp"
 
 namespace rmw_zenoh_cpp
 {
@@ -1182,15 +1181,15 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
 
 ///=============================================================================
 rmw_ret_t GraphCache::service_server_is_available(
-  const char * service_name,
-  const char * service_type,
+  const liveliness::TopicInfo & client_topic_info,
   bool * is_available) const
 {
   *is_available = false;
   std::lock_guard<std::mutex> lock(graph_mutex_);
-  GraphNode::TopicMap::const_iterator service_it = graph_services_.find(service_name);
+  GraphNode::TopicMap::const_iterator service_it = graph_services_.find(client_topic_info.name_);
   if (service_it != graph_services_.end()) {
-    GraphNode::TopicTypeMap::const_iterator type_it = service_it->second.find(service_type);
+    GraphNode::TopicTypeMap::const_iterator type_it =
+      service_it->second.find(client_topic_info.type_);
     if (type_it != service_it->second.end()) {
       for (const auto & [_, topic_data] : type_it->second) {
         if (topic_data->subs_.size() > 0) {

diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.hpp b/rmw_zenoh_cpp/src/detail/graph_cache.hpp
@@ -172,8 +172,7 @@ class GraphCache final
     rmw_topic_endpoint_info_array_t * endpoints_info) const;
 
   rmw_ret_t service_server_is_available(
-    const char * service_name,
-    const char * service_type,
+    const liveliness::TopicInfo & client_topic_info,
     bool * is_available) const;
 
   /// Set a qos event callback for an entity from the current session.