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Add type hash to names_and_types (#356) #421

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44 changes: 22 additions & 22 deletions rmw/include/rmw/get_node_info_and_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ extern "C"
#include "rmw/types.h"
#include "rmw/visibility_control.h"

/// Return all topic names and types for which a given remote node has subscriptions.
/// Return all topic names, types, and type hashes for which a given remote node has subscriptions.
/**
* This function returns an array of topic names and types for which a given remote
* This function returns an array of topic names, types, and type hashes for which a given remote
* node has subscriptions, as discovered so far by the given local node.
*
* <hr>
Expand All @@ -49,8 +49,8 @@ extern "C"
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying subscribed topic names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying subscribed topic names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `topic_names_and_types`
* while rmw_get_subscriber_names_and_types_by_node() uses it.
* - Access to node name and namespace is read-only but it is not synchronized.
Expand All @@ -60,15 +60,15 @@ extern "C"
* Check your allocator documentation for further reference.
*
* \pre Given `node` must be a valid node handle, as returned by rmw_create_node().
* \pre Given `topic_names_and_types` must be a zero-initialized array of names and types,
* \pre Given `topic_names_and_types` must be a zero-initialized array of names, types, and type hashes,
* as returned by rmw_get_zero_initialized_names_and_types().
*
* \param[in] node Local node to query the ROS graph.
* \param[in] allocator Allocator to be used when populating the `topic_names_and_types` array.
* \param[in] node_name Name of the remote node to get information for.
* \param[in] node_namespace Namespace of the remote node to get information for.
* \param[in] no_demangle Whether to demangle all topic names following ROS conventions or not.
* \param[out] topic_names_and_types Array of topic names and types the remote node has created
* \param[out] topic_names_and_types Array of topic names, types, and type hashes the remote node has created
* a subscription for, populated on success but left unchanged on failure.
* If populated, it is up to the caller to finalize this array later on
* using rmw_names_and_types_fini().
Expand Down Expand Up @@ -100,9 +100,9 @@ rmw_get_subscriber_names_and_types_by_node(
bool no_demangle,
rmw_names_and_types_t * topic_names_and_types);

/// Return all topic names and types for which a given remote node has publishers.
/// Return all topic names, types, and type hashes for which a given remote node has publishers.
/**
* This function returns an array of topic names and types for which a given remote
* This function returns an array of topic names, types, and type hashes for which a given remote
* node has created publishers, as discovered so far by the given local node.
*
* <hr>
Expand All @@ -124,8 +124,8 @@ rmw_get_subscriber_names_and_types_by_node(
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying published topic names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying published topic names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `topic_names_and_types`
* while rmw_get_publisher_names_and_types_by_node() uses it.
* - Access to node name and namespace is read-only but it is not synchronized.
Expand All @@ -135,15 +135,15 @@ rmw_get_subscriber_names_and_types_by_node(
* Check your allocator documentation for further reference.
*
* \pre Given `node` must be a valid node handle, as returned by rmw_create_node().
* \pre Given `topic_names_and_types` must be a zero-initialized array of names and types,
* \pre Given `topic_names_and_types` must be a zero-initialized array of names, types, and type hashes,
* as returned by rmw_get_zero_initialized_names_and_types().
*
* \param[in] node Local node to query the ROS graph.
* \param[in] allocator Allocator to be used when populating the `topic_names_and_types` array.
* \param[in] node_name Name of the remote node to get information for.
* \param[in] node_namespace Namespace of the remote node to get information for.
* \param[in] no_demangle Whether to demangle all topic names following ROS conventions or not.
* \param[out] topic_names_and_types Array of topic names and types the remote node has created
* \param[out] topic_names_and_types Array of topic names, types, and type hashes the remote node has created
* a publisher for, populated on success but left unchanged on failure.
* If populated, it is up to the caller to finalize this array later on
* using rmw_names_and_types_fini().
Expand Down Expand Up @@ -175,9 +175,9 @@ rmw_get_publisher_names_and_types_by_node(
bool no_demangle,
rmw_names_and_types_t * topic_names_and_types);

/// Return all service names and types for which a given remote node has servers.
/// Return all service names, types, and type hashes for which a given remote node has servers.
/**
* This function returns an array of service names and types for which a given remote
* This function returns an array of service names, types, and type hashes for which a given remote
* node has servers, as discovered so far by the given local node.
*
* <hr>
Expand All @@ -199,8 +199,8 @@ rmw_get_publisher_names_and_types_by_node(
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying served service names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying served service names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `service_names_and_types`
* while rmw_get_service_names_and_types_by_node() uses it.
* - Access to node name and namespace is read-only but it is not synchronized.
Expand All @@ -213,7 +213,7 @@ rmw_get_publisher_names_and_types_by_node(
* \param[in] allocator Allocator to be used when populating the `service_names_and_types` array.
* \param[in] node_name Name of the remote node to get information for.
* \param[in] node_namespace Namespace of the remote node to get information for.
* \param[out] service_names_and_types Array of service names and types the remote node has
* \param[out] service_names_and_types Array of service names, types, and type hashes the remote node has
* created a service server for, populated on success but left unchanged on failure.
* If populated, it is up to the caller to finalize this array later on
* using rmw_names_and_types_fini().
Expand Down Expand Up @@ -244,9 +244,9 @@ rmw_get_service_names_and_types_by_node(
const char * node_namespace,
rmw_names_and_types_t * service_names_and_types);

/// Return all service names and types for which a given remote node has clients.
/// Return all service names, types, and type hashes for which a given remote node has clients.
/**
* This function returns an array of service names and types for which a given remote
* This function returns an array of service names, types, and type hashes for which a given remote
* node has clients, as discovered so far by the given local node.
*
* <hr>
Expand All @@ -268,8 +268,8 @@ rmw_get_service_names_and_types_by_node(
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying served service names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying served service names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `service_names_and_types`
* while rmw_get_client_names_and_types_by_node() uses it.
* - Access to C-style string arguments is read-only but it is not synchronized.
Expand All @@ -282,7 +282,7 @@ rmw_get_service_names_and_types_by_node(
* \param[in] allocator Allocator to be used when populating the `service_names_and_types` array.
* \param[in] node_name Name of the remote node to get information for.
* \param[in] node_namespace Namespace of the remote node to get information for.
* \param[out] service_names_and_types Array of service names and types the remote node has
* \param[out] service_names_and_types Array of service names, types, and type hashes the remote node has
* created a service client for, populated on success but left unchanged on failure.
* If populated, it is up to the caller to finalize this array later on
* using rmw_names_and_types_fini().
Expand Down
12 changes: 6 additions & 6 deletions rmw/include/rmw/get_service_names_and_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ extern "C"
#include "rmw/types.h"
#include "rmw/visibility_control.h"

/// Return all service names and types in the ROS graph.
/// Return all service names, types, and type hashes in the ROS graph.
/**
* This function returns an array of all service names and types in the ROS graph
* This function returns an array of all service names, types, and type hashes in the ROS graph
* i.e. for which a server and/or client exists, as discovered so far by the given
* local node.
*
Expand All @@ -50,20 +50,20 @@ extern "C"
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying services names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying services names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `service_names_and_types`
* while rmw_get_service_names_and_types() uses it.
* - The default allocators are thread-safe objects, but any custom `allocator` may not be.
* Check your allocator documentation for further reference.
*
* \pre Given `node` must be a valid node handle, as returned by rmw_create_node().
* \pre Given `services_names_and_types` must be a zero-initialized array of names and types,
* \pre Given `services_names_and_types` must be a zero-initialized array of names, types, and type hashes,
* as returned by rmw_get_zero_initialized_names_and_types().
*
* \param[in] node Node to query the ROS graph.
* \param[in] allocator Allocator to be used when populating the `service_names_and_types` array.
* \param[out] service_names_and_types Array of service names and their types,
* \param[out] service_names_and_types Array of service names, their types, and their type hashes,
* populated on success but left unchanged on failure.
* If populated, it is up to the caller to finalize this array later
* on using rmw_names_and_types_fini().
Expand Down
10 changes: 5 additions & 5 deletions rmw/include/rmw/get_topic_names_and_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ extern "C"
#include "rmw/types.h"
#include "rmw/visibility_control.h"

/// Return all topic names and types in the ROS graph.
/// Return all topic names, types, and type hashes in the ROS graph.
/**
* This function returns an array of all topic names and types in the ROS graph
* This function returns an array of all topic names, types, and type hashes in the ROS graph
* i.e. for which a publisher and/or a subscription exists, as discovered so far
* by the given local node.
*
Expand Down Expand Up @@ -57,15 +57,15 @@ extern "C"
* \par Thread-safety
* Nodes are thread-safe objects, and so are all operations on them except for finalization.
* Therefore, it is safe to query the ROS graph using the same node concurrently.
* However, when querying topic names and types:
* - Access to the array of names and types is not synchronized.
* However, when querying topic names, types, and type hashes:
* - Access to the array of names, types, and type hashes is not synchronized.
* It is not safe to read or write `topic_names_and_types`
* while rmw_get_topic_names_and_types() uses it.
* - The default allocators are thread-safe objects, but any custom `allocator` may not be.
* Check your allocator documentation for further reference.
*
* \pre Given `node` must be a valid node handle, as returned by rmw_create_node().
* \pre Given `topic_names_and_types` must be a zero-initialized array of names and types,
* \pre Given `topic_names_and_types` must be a zero-initialized array of names, types, and type hashes,
* as returned by rmw_get_zero_initialized_names_and_types().
*
* \param[in] node Node to query the ROS graph.
Expand Down
22 changes: 15 additions & 7 deletions rmw/include/rmw/names_and_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,18 +27,23 @@ extern "C"
#include "rmw/macros.h"
#include "rmw/types.h"
#include "rmw/visibility_control.h"
#include "rosidl_runtime_c/type_hash.h"

/// Associative array of topic or service names and types.
/// Associative array of topic or service names, types, and type hashes.
typedef struct RMW_PUBLIC_TYPE rmw_names_and_types_s
{
/// Array of names
rcutils_string_array_t names;

/// Dynamic array of arrays of type names, with the same length as `names`
rcutils_string_array_t * types;

/// Array of arrays of type hashes, with the same length as `names`.
/// `type_hashes[i][j]` corresponds to `types[i].data[j]`.
rosidl_type_hash_t ** type_hashes;
} rmw_names_and_types_t;

/// Return a zero initialized array of names and types.
/// Return a zero initialized array of names, types, and type hashes.
RMW_PUBLIC
RMW_WARN_UNUSED
rmw_names_and_types_t
Expand All @@ -55,7 +60,7 @@ rmw_get_zero_initialized_names_and_types(void);
* Lock-Free | Yes
*
* \par Thread-safety
* Access to the array of names and types is read-only, but it is not synchronized.
* Access to the array of names, types, and type hashes is read-only, but it is not synchronized.
* Concurrent `names_and_types` reads are safe, but concurrent reads and writes are not.
*
* \param[in] names_and_types Array to be checked.
Expand All @@ -67,7 +72,7 @@ RMW_WARN_UNUSED
rmw_ret_t
rmw_names_and_types_check_zero(rmw_names_and_types_t * names_and_types);

/// Initialize an array of names and types.
/// Initialize an array of names, types, and type hashes.
/**
* This function initializes the string array for the names and allocates space
* for all the string arrays for the types according to the given size, but
Expand All @@ -84,11 +89,14 @@ rmw_names_and_types_check_zero(rmw_names_and_types_t * names_and_types);
*
* \par Thread-safety
* Initialization is a reentrant procedure, but:
* - Access to arrays of names and types is not synchronized.
* - Access to arrays of names, types, and type hashes is not synchronized.
* It is not safe to read or write `names_and_types` during initialization.
* - The default allocators are thread-safe objects, but any custom `allocator` may not be.
* Check your allocator documentation for further reference.
*
* \pre Given `names_and_types` must be a zero-initialized array,
* as returned by rmw_get_zero_initialized_names_and_types().
*
* \param[inout] names_and_types Array to be initialized on success,
* but left unchanged on failure.
* \param[in] size Size of the array.
Expand All @@ -111,7 +119,7 @@ rmw_names_and_types_init(
size_t size,
rcutils_allocator_t * allocator);

/// Finalize an array of names and types.
/// Finalize an array of names, types, and type hashes.
/**
* This function deallocates the string array of names and the array of string arrays of types,
* and zero initializes the given array.
Expand All @@ -128,7 +136,7 @@ rmw_names_and_types_init(
* Lock-Free | Yes
*
* \par Thread-safety
* Finalization is a reentrant procedure, but access to arrays of names and types
* Finalization is a reentrant procedure, but access to arrays of names, types, and type hashes
* is not synchronized.
* It is not safe to read or write `names_and_types` during initialization.
*
Expand Down
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