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Add empty type key hash to GraphCache (#189)

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Signed-off-by: acuadros95 <acuadros1995@gmail.com>
This commit is contained in:
Antonio Cuadros
2023-06-06 11:11:24 +02:00
committed by GitHub
parent 03946126dd
commit 964b0aec1a
1 changed files with 9 additions and 4 deletions
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micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+9 -4
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@@ -374,8 +374,8 @@ void GraphManager::add_datawriter(
"rmw_fastrtps_cpp", participant_guid);
const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
graphCache_.add_entity(datawriter_gid, topic_name,
type_name, participant_gid, qos_profile, false);
graphCache_.add_entity(datawriter_gid, topic_name, type_name,
rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
}
void GraphManager::remove_datawriter(
@@ -411,8 +411,13 @@ void GraphManager::add_datareader(
"rmw_fastrtps_cpp", participant_guid);
const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
graphCache_.add_entity(datareader_gid, topic_name,
type_name, participant_gid, qos_profile, true);
// TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
// Related PRs:
// https://github.com/ros2/rmw_dds_common/pull/70
// https://github.com/ros2/rmw_fastrtps/pull/671
// https://github.com/ros2/rmw_fastrtps/pull/680
graphCache_.add_entity(datareader_gid, topic_name, type_name,
rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
}
void GraphManager::remove_datareader(