Change the buffer-aware BUFBE: -> bufbe.#880
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The buffer-aware work appends a BUFBE: sentinel to the publisher's user_data QoS field. But parse_key_value does not support colons in keys, so all type hashes for buffers using this would be INVALID. Fix this by dropping the colon from the sentinel, which makes it pass parse_key_value and keep type hashes working. Also add in a regression test here. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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Here is CI with this and all of the other PRs listed here:
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fujitatomoya
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the PR description says "no user-facing behavior change" and "should be backported to Lyrical." If anyone has used buffer-aware code based on the unpatched form (are we expecting this fix is going to be merged before release?), this rename is a wire break for them? i guess that is probably not a great idea?
That's a good point, but in my opinion, since Lyrical isn't released yet, this is fine to do. Once Lyrical ships, then I think it would be a breaking change and we'd have to figure something else out. But I'm open to other opinions. |
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Here's another build with the updates in place:
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@Mergifyio backport lyrical |
✅ Backports have been createdDetails
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* Change the buffer-aware BUFBE: -> bufbe. (#880) The buffer-aware work appends a BUFBE: sentinel to the publisher's user_data QoS field. But parse_key_value does not support colons in keys, so all type hashes for buffers using this would be INVALID. Fix this by dropping the colon from the sentinel, which makes it pass parse_key_value and keep type hashes working. Also add in a regression test here. Signed-off-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit 35a62b8) * Fix rmw_take_serialized. (#881) (#885) * Fix rmw_take_serialized. rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path. The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path. * Feedback from review. --------- (cherry picked from commit fa15754) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> --------- Signed-off-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
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Description
The buffer-aware work appends a BUFBE: sentinel to the publisher's user_data QoS field. But parse_key_value does not support colons in keys, so all type hashes for buffers using this would be INVALID.
Fix this by dropping the colon from the sentinel, which makes it pass parse_key_value and keep type hashes working.
Also add in a regression test here.
This should be merged at approximately the same time as #879 , #881 , and ros2/system_tests#592
Is this user-facing behavior change?
No.
Did you use Generative AI?
Yes, Claude Opus 4.7
Additional Information
This should be backported to Lyrical.