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Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info #988

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Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info #988

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dd318e4
Expose buffer backend metadata in rmw_zenoh graph endpoint info
nvcyc Jun 5, 2026
737cb37
Serialize Zenoh buffer backend metadata in endpoint info
nvcyc Jul 1, 2026
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21 changes: 21 additions & 0 deletions rmw_zenoh_cpp/src/detail/graph_cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,11 @@
#include "rcpputils/find_and_replace.hpp"
#include "rcpputils/scope_exit.hpp"

#include "rcutils/error_handling.h"
#include "rcutils/strdup.h"

#include "rmw/error_handling.h"
#include "rmw/impl/cpp/buffer_backend_metadata.hpp"
#include "rmw/sanity_checks.h"
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"
Expand Down Expand Up @@ -1163,6 +1165,25 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
return ret;
}

auto entity_topic_info = entity->topic_info();
if (entity_topic_info.has_value() &&
entity_topic_info->backend_metadata_.has_value() &&
!entity_topic_info->backend_metadata_->empty())
{
const std::string buffer_backend_metadata =
rmw::impl::cpp::serialize_buffer_backend_metadata(
entity_topic_info->backend_metadata_.value());
if (!buffer_backend_metadata.empty()) {
ret = rmw_topic_endpoint_info_set_buffer_backend_metadata(
&ep,
buffer_backend_metadata.c_str(),
allocator);
if (RMW_RET_OK != ret) {
return ret;
}
}
}

rosidl_type_hash_t type_hash;
rcutils_ret_t rc_ret = rosidl_parse_type_hash_string(
topic_data->info_.type_hash_.c_str(),
Expand Down
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