Make ClientData thread-safe

Signed-off-by: Yadunund <[email protected]>
ros2 · Oct 11, 2024 · b09fa97 · b09fa97
1 parent ca899ac
commit b09fa97
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Showing 13 changed files with 911 additions and 802 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
 {
@@ -1216,15 +1215,15 @@ 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.