Add discovered_readers()/discovered_writers() snapshot accessors#418
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lakshay2010sharma wants to merge 1 commit into
Open
Add discovered_readers()/discovered_writers() snapshot accessors#418lakshay2010sharma wants to merge 1 commit into
lakshay2010sharma wants to merge 1 commit into
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Mirror discovered_topics() at all three delegation layers, backed by two new DiscoveryDB getters over the external_topic_readers/writers maps. Snapshot semantics (cloned Vec): a consumer that attaches late or drains the status-event channel slowly can miss discovery events, but the DiscoveryDB retains full current state. Since user_data is now carried on DiscoveredReaderData/DiscoveredWriterData, these accessors expose remote endpoints' USER_DATA QoS (e.g. ROS 2 REP-2011 type hashes) loss-free. Additive only; in-module DB test + doctests included.
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What
Adds
discovered_readers()/discovered_writers()snapshot accessors, mirroring the existingdiscovered_topics()at all three delegation layers (DomainParticipant→DomainParticipantDisc→DomainParticipantInner), backed by two newDiscoveryDBgetters over theexternal_topic_readers/external_topic_writersmaps.Why
The status-event channel can lose discovery events for a consumer that attaches late or drains slowly — but
DiscoveryDBretains the full current state. A snapshot accessor lets applications harvest remote endpoint discovery loss-free at any point, instead of reconstructing state from an event stream they may have partially missed.Our concrete use case: ROS 2 nodes publish REP-2011 type hashes in endpoint
USER_DATAQoS. Sinceuser_datais carried onDiscoveredReaderData/DiscoveredWriterData, these accessors expose remote endpoints'USER_DATA(and the rest of the endpoint QoS) directly from the DB snapshot — we use this to drivetype_description_interfaceslookups against live robots.Notes
Vec), same shape asdiscovered_topics().DiscoveryDBtest + doctests.Happy to adjust naming/placement to whatever fits the project's conventions.