Refactor graph cache to track qos #107
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Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
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* Set callbacks Signed-off-by: Yadunund <[email protected]> * Implement EventsBase class Signed-off-by: Yadunund <[email protected]> * Declare certain event types to be compatible although mechanisms are not implemented Signed-off-by: Yadunund <[email protected]> * Call event callbacks once an event is queued Signed-off-by: Yadunund <[email protected]> * Fix typo preventing setting of user callbacks Signed-off-by: Yadunund <[email protected]> * Refactor graph cache to track qos (#107) * Nest TopicQoSMap within TopicDataMap Signed-off-by: Yadunund <[email protected]> * Count matched pub/subs based on qos compatibility Signed-off-by: Yadunund <[email protected]> * Rename TopicDataMap to TopicTypeMap Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> * Move eventbase definition into event.hpp Signed-off-by: Yadunund <[email protected]> * Update rmw_zenoh_cpp/src/rmw_event.cpp Co-authored-by: Chris Lalancette <[email protected]> Signed-off-by: Yadu <[email protected]> * Store current session id in graph cache Signed-off-by: Yadunund <[email protected]> * Allow event callback functions to be registered with graph cache Signed-off-by: Yadunund <[email protected]> * Store liveliness::Entity in custom types Signed-off-by: Yadunund <[email protected]> * Register qos event callbacks Signed-off-by: Yadunund <[email protected]> * Remove all lambdas in graph cache Signed-off-by: Yadunund <[email protected]> * Implement matched events Signed-off-by: Yadunund <[email protected]> * Make liveliness token keyexprs globally unique Signed-off-by: Yadunund <[email protected]> * Add node id to all liveliness tokens Signed-off-by: Yadunund <[email protected]> * Debug race condition Signed-off-by: Yadunund <[email protected]> * Update qos compatibility check to reflect zenoh's behavior Signed-off-by: Yadunund <[email protected]> * Get rid of TopicStats Signed-off-by: Yadunund <[email protected]> * Replace EventsBase inheritance with DataCallbackManager and EventsManager objects Signed-off-by: Yadunund <[email protected]> * Comment print statements for now. They will be deleted before merge Signed-off-by: Yadunund <[email protected]> * Log reason for bad reply Signed-off-by: Yadunund <[email protected]> * Remove debug printf statements Signed-off-by: Yadunund <[email protected]> * event_mutex_ is a regular mutex Signed-off-by: Yadunund <[email protected]> * Update todo for TopicData Signed-off-by: Yadunund <[email protected]> * Construct TopicData from Entity Signed-off-by: Yadunund <[email protected]> * Restrict query and reply queue sizes Signed-off-by: Yadunund <[email protected]> * Simplify codepaths for matched events Signed-off-by: Yadunund <[email protected]> * Avoid copying liveliness::Entity Signed-off-by: Yadunund <[email protected]> * Handle 0 history depth for publishers too Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> Signed-off-by: Yadu <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
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The PR allows us to keep track of QoS of each
EntitywithinGraphCache. Previously topics with same name and type were considered equivalent. Now, theTopicMapcontains the nestedTopicTypeMap(renamed fromTopicDataMap) which in turn contains the nestedTopicQoSMap. The key for theTopicQoSMap, is a string serialization ofrmw_qos_profile_twhich we already use to include QoS information in liveliness tokens.With this change, we can keep track of the exact QoS settings used by entities within the
GraphCachewhich makes it easier to check for QoS events.Also updated in this PR:
TopicMapobjects within aGraphNodeandgraph_topics_/graph_services_caches.