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Return copies from Entity
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Signed-off-by: Yadunund <[email protected]>
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@Yadunund
Yadunund committed Nov 28, 2023
1 parent b26a268 commit 4488b97
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Showing 3 changed files with 47 additions and 27 deletions.
62 changes: 41 additions & 21 deletions rmw_zenoh_cpp/src/detail/graph_cache.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -71,20 +71,30 @@ void GraphCache::parse_put(const std::string & keyexpr)
return;
}

if (!entity.topic_info().has_value()) {
// This should not happen as add_topic_data() is called after validating the existence
// of topic_info.
RCUTILS_LOG_WARN_NAMED(
"rmw_zenoh_cpp",
"add_topic_data() called without valid TopicInfo. Report this.");
return;
}

const liveliness::TopicInfo topic_info = entity.topic_info().value();
GraphNode::TopicMap & topic_map = entity.type() ==
EntityType::Publisher ? graph_node.pubs_ : graph_node.subs_;
const std::string entity_desc = entity.type() ==
EntityType::Publisher ? "publisher" : "subscription";
const std::size_t pub_count = entity.type() == EntityType::Publisher ? 1 : 0;
const std::size_t sub_count = !pub_count;
TopicDataPtr graph_topic_data = std::make_shared<TopicData>(
entity.topic_info().value(),
topic_info,
TopicStats{pub_count, sub_count});

GraphNode::TopicDataMap topic_data_map = {
{graph_topic_data->info_.type_, graph_topic_data}};
std::pair<GraphNode::TopicMap::iterator, bool> insertion =
topic_map.insert(std::make_pair(entity.topic_info()->name_, topic_data_map));
topic_map.insert(std::make_pair(topic_info.name_, topic_data_map));
if (!insertion.second) {
// A topic with the same name already exists in the node so we append the type.
std::pair<GraphNode::TopicDataMap::iterator, bool> type_insertion =
Expand All @@ -102,25 +112,25 @@ void GraphCache::parse_put(const std::string & keyexpr)
}

// Bookkeeping: Update graph_topics_ which keeps track of topics across all nodes in the graph
GraphNode::TopicMap::iterator cache_topic_it = graph_topics_.find(entity.topic_info()->name_);
GraphNode::TopicMap::iterator cache_topic_it = graph_topics_.find(topic_info.name_);
if (cache_topic_it == graph_topics_.end()) {
// First time this topic name is added to the graph.
auto topic_data_ptr = std::make_shared<TopicData>(
entity.topic_info().value(),
topic_info,
TopicStats{pub_count, sub_count}
);
graph_topics_[entity.topic_info()->name_] = GraphNode::TopicDataMap{
{entity.topic_info()->type_, topic_data_ptr}
graph_topics_[topic_info.name_] = GraphNode::TopicDataMap{
{topic_info.type_, topic_data_ptr}
};
} else {
// If a TopicData entry for the same type exists in the topic map, update pub/sub counts
// or else create an new TopicData.
std::pair<GraphNode::TopicDataMap::iterator, bool> topic_data_insertion =
cache_topic_it->second.insert(std::make_pair(entity.topic_info()->type_, nullptr));
cache_topic_it->second.insert(std::make_pair(topic_info.type_, nullptr));
if (topic_data_insertion.second) {
// A TopicData for the topic_type does not exist.
topic_data_insertion.first->second = std::make_shared<TopicData>(
entity.topic_info().value(),
topic_info,
TopicStats{pub_count, sub_count});
} else {
// Update the existing counters.
Expand All @@ -133,9 +143,9 @@ void GraphCache::parse_put(const std::string & keyexpr)
"rmw_zenoh_cpp",
"Added %s on topic %s with type %s and qos %s to node /%s.",
entity_desc.c_str(),
entity.topic_info()->name_.c_str(),
entity.topic_info()->type_.c_str(),
entity.topic_info()->qos_.c_str(),
topic_info.name_.c_str(),
topic_info.type_.c_str(),
topic_info.qos_.c_str(),
graph_node.name_.c_str());
};

Expand Down Expand Up @@ -226,14 +236,24 @@ void GraphCache::parse_del(const std::string & keyexpr)
return;
}

if (!entity.topic_info().has_value()) {
// This should not happen as add_topic_data() is called after validating the existence
// of topic_info.
RCUTILS_LOG_WARN_NAMED(
"rmw_zenoh_cpp",
"remove_topic_data() called without valid TopicInfo. Report this.");
return;
}

const liveliness::TopicInfo topic_info = entity.topic_info().value();
GraphNode::TopicMap & topic_map = entity.type() ==
EntityType::Publisher ? graph_node.pubs_ : graph_node.subs_;
const std::string entity_desc = entity.type() ==
EntityType::Publisher ? "publisher" : "subscription";
const std::size_t pub_count = entity.type() == EntityType::Publisher ? 1 : 0;
const std::size_t sub_count = !pub_count;

GraphNode::TopicMap::iterator topic_it = topic_map.find(entity.topic_info()->name_);
GraphNode::TopicMap::iterator topic_it = topic_map.find(topic_info.name_);
if (topic_it == topic_map.end()) {
// Pub/sub not found.
return;
Expand All @@ -242,12 +262,12 @@ void GraphCache::parse_del(const std::string & keyexpr)
GraphNode::TopicDataMap & topic_data_map = topic_it->second;
// Search the unordered_set for the TopicData for this topic.
GraphNode::TopicDataMap::iterator topic_data_it =
topic_data_map.find(entity.topic_info()->type_);
topic_data_map.find(topic_info.type_);
if (topic_data_it == topic_data_map.end()) {
// Something is wrong.
RCUTILS_LOG_ERROR_NAMED(
"rmw_zenoh_cpp", "TopicData not found for topic %s. Report this.",
entity.topic_info()->name_.c_str());
topic_info.name_.c_str());
return;
}

Expand All @@ -262,21 +282,21 @@ void GraphCache::parse_del(const std::string & keyexpr)
}
// If the topic does not have any TopicData entries, erase the topic from the map.
if (topic_data_map.empty()) {
topic_map.erase(entity.topic_info()->name_);
topic_map.erase(topic_info.name_);
}

// Bookkeeping: Update graph_topic_ which keeps track of topics across all nodes in the graph.
if (update_cache) {
GraphNode::TopicMap::iterator cache_topic_it =
graph_topics_.find(entity.topic_info()->name_);
graph_topics_.find(topic_info.name_);
if (cache_topic_it == graph_topics_.end()) {
// This should not happen.
RCUTILS_LOG_ERROR_NAMED(
"rmw_zenoh_cpp", "topic_key %s not found in graph_topics_. Report this.",
entity.topic_info()->name_.c_str());
topic_info.name_.c_str());
} else {
GraphNode::TopicDataMap::iterator cache_topic_data_it =
cache_topic_it->second.find(entity.topic_info()->type_);
cache_topic_it->second.find(topic_info.type_);
if (cache_topic_data_it != cache_topic_it->second.end()) {
// Decrement the relevant counters. If both counters are 0 remove from cache.
cache_topic_data_it->second->stats_.pub_count_ -= pub_count;
Expand All @@ -298,9 +318,9 @@ void GraphCache::parse_del(const std::string & keyexpr)
"rmw_zenoh_cpp",
"Removed %s on topic %s with type %s and qos %s to node /%s.",
entity_desc.c_str(),
entity.topic_info()->name_.c_str(),
entity.topic_info()->type_.c_str(),
entity.topic_info()->qos_.c_str(),
topic_info.name_.c_str(),
topic_info.type_.c_str(),
topic_info.qos_.c_str(),
graph_node.name_.c_str());
};

Expand Down
6 changes: 3 additions & 3 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ std::optional<Entity> Entity::make(const std::string & keyexpr)
}

///=============================================================================
const EntityType & Entity::type() const
EntityType Entity::type() const
{
return this->type_;
}
Expand All @@ -287,13 +287,13 @@ std::string Entity::node_enclave() const
}

///=============================================================================
const std::optional<TopicInfo> & Entity::topic_info() const
std::optional<TopicInfo> Entity::topic_info() const
{
return this->topic_info_;
}

///=============================================================================
const std::string & Entity::keyexpr() const
std::string Entity::keyexpr() const
{
return this->keyexpr_;
}
Expand Down
6 changes: 3 additions & 3 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ class Entity
static std::optional<Entity> make(const std::string & keyexpr);

/// Get the entity type.
const EntityType & type() const;
EntityType type() const;

std::string node_namespace() const;

Expand All @@ -96,10 +96,10 @@ class Entity
std::string node_enclave() const;

/// Get the topic_info.
const std::optional<TopicInfo> & topic_info() const;
std::optional<TopicInfo> topic_info() const;

/// Get the liveliness keyexpr for this entity.
const std::string & keyexpr() const;
std::string keyexpr() const;

private:
Entity(
Expand Down

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