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Explicitly capture by reference in lambdas
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Signed-off-by: Yadunund <yadunund@openrobotics.org>
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@Yadunund
Yadunund committed Jan 17, 2024
1 parent e29234a commit aae76cd
Showing 1 changed file with 31 additions and 25 deletions.
56 changes: 31 additions & 25 deletions rmw_zenoh_cpp/src/detail/graph_cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
// Helper lambda to append pub/subs to the GraphNode.
// We capture by reference to update graph_topics_
auto add_topic_data =
[this](const Entity & entity, GraphNode & graph_node) -> void
[](const Entity & entity, GraphNode & graph_node, GraphCache & graph_cache) -> void
{
if (entity.type() != EntityType::Publisher &&
entity.type() != EntityType::Subscription &&
Expand All @@ -93,7 +93,8 @@ void GraphCache::parse_put(const std::string & keyexpr)
const liveliness::TopicInfo topic_info = entity.topic_info().value();
std::string entity_desc = "";
GraphNode::TopicMap & topic_map =
[&]() -> GraphNode::TopicMap &
[](const Entity & entity, GraphNode & graph_node,
std::string & entity_desc) -> GraphNode::TopicMap &
{
if (entity.type() == EntityType::Publisher) {
entity_desc = "publisher";
Expand All @@ -109,7 +110,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
entity_desc = "client";
return graph_node.clients_;
}
}();
}(entity, graph_node, entity_desc);
// For the sake of reusing data structures and lookup functions, we treat publishers and clients are equivalent.
// Similarly, subscriptions and services are equivalent.
const std::size_t pub_count = entity.type() == EntityType::Publisher ||
Expand Down Expand Up @@ -143,8 +144,8 @@ 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 & graph_endpoints =
entity.type() == EntityType::Publisher || entity.type() == EntityType::Subscription ?
graph_topics_ :
graph_services_;
graph_cache.graph_topics_ :
graph_cache.graph_services_;
GraphNode::TopicMap::iterator cache_topic_it = graph_endpoints.find(topic_info.name_);
if (cache_topic_it == graph_endpoints.end()) {
// First time this topic name is added to the graph.
Expand Down Expand Up @@ -185,7 +186,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
// Helper lambda to convert an Entity into a GraphNode.
// Note: this will update bookkeeping variables in GraphCache.
auto make_graph_node =
[&](const Entity & entity) -> std::shared_ptr<GraphNode>
[&add_topic_data](const Entity & entity, GraphCache & graph_cache) -> std::shared_ptr<GraphNode>
{
auto graph_node = std::make_shared<GraphNode>();
graph_node->id_ = entity.id();
Expand All @@ -198,7 +199,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
return graph_node;
}
// Add endpoint entries.
add_topic_data(entity, *graph_node);
add_topic_data(entity, *graph_node, graph_cache);

return graph_node;
};
Expand All @@ -210,7 +211,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
NamespaceMap::iterator ns_it = graph_.find(entity.node_namespace());
if (ns_it == graph_.end()) {
NodeMap node_map = {
{entity.node_name(), make_graph_node(entity)}};
{entity.node_name(), make_graph_node(entity, *this)}};
graph_.emplace(std::make_pair(entity.node_namespace(), std::move(node_map)));
RCUTILS_LOG_WARN_NAMED(
"rmw_zenoh_cpp", "Added node /%s to a new namespace %s in the graph.",
Expand All @@ -236,7 +237,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
// Either the first time a node with this name is added or with an existing
// name but unique id.
NodeMap::iterator insertion_it =
ns_it->second.insert(std::make_pair(entity.node_name(), make_graph_node(entity)));
ns_it->second.insert(std::make_pair(entity.node_name(), make_graph_node(entity, *this)));
if (insertion_it != ns_it->second.end()) {
RCUTILS_LOG_INFO_NAMED(
"rmw_zenoh_cpp",
Expand Down Expand Up @@ -273,7 +274,7 @@ void GraphCache::parse_put(const std::string & keyexpr)
}

// Update the graph based on the entity.
add_topic_data(entity, *(node_it->second));
add_topic_data(entity, *(node_it->second), *this);
}

///=============================================================================
Expand All @@ -288,13 +289,13 @@ void GraphCache::parse_del(const std::string & keyexpr)

// Helper lambda to update graph_topics_.
auto update_graph_topics =
[&](const liveliness::TopicInfo topic_info, const EntityType entity_type, std::size_t pub_count,
std::size_t sub_count) -> void
[](const liveliness::TopicInfo topic_info, const EntityType entity_type, std::size_t pub_count,
std::size_t sub_count, GraphCache & graph_cache) -> void
{
GraphNode::TopicMap & graph_endpoints =
entity_type == EntityType::Publisher || entity_type == EntityType::Subscription ?
graph_topics_ :
graph_services_;
graph_cache.graph_topics_ :
graph_cache.graph_services_;
GraphNode::TopicMap::iterator cache_topic_it =
graph_endpoints.find(topic_info.name_);
if (cache_topic_it == graph_endpoints.end()) {
Expand Down Expand Up @@ -325,7 +326,8 @@ void GraphCache::parse_del(const std::string & keyexpr)
// Helper lambda to append pub/subs to the GraphNode.
// We capture by reference to update caches like graph_topics_ if update_cache is true.
auto remove_topic_data =
[&](const Entity & entity, GraphNode & graph_node) -> void
[&update_graph_topics](const Entity & entity, GraphNode & graph_node,
GraphCache & graph_cache) -> void
{
if (entity.type() != EntityType::Publisher &&
entity.type() != EntityType::Subscription &&
Expand All @@ -349,7 +351,8 @@ void GraphCache::parse_del(const std::string & keyexpr)
const liveliness::TopicInfo topic_info = entity.topic_info().value();
std::string entity_desc = "";
GraphNode::TopicMap & topic_map =
[&]() -> GraphNode::TopicMap &
[](const Entity & entity, GraphNode & graph_node,
std::string & entity_desc) -> GraphNode::TopicMap &
{
if (entity.type() == EntityType::Publisher) {
entity_desc = "publisher";
Expand All @@ -365,7 +368,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
entity_desc = "client";
return graph_node.clients_;
}
}();
}(entity, graph_node, entity_desc);
// For the sake of reusing data structures and lookup functions, we treat publishers and clients are equivalent.
// Similarly, subscriptions and services are equivalent.
const std::size_t pub_count = entity.type() == EntityType::Publisher ||
Expand Down Expand Up @@ -405,7 +408,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
}

// Bookkeeping: Update graph_topic_ which keeps track of topics across all nodes in the graph.
update_graph_topics(topic_info, entity.type(), pub_count, sub_count);
update_graph_topics(topic_info, entity.type(), pub_count, sub_count, graph_cache);

RCUTILS_LOG_INFO_NAMED(
"rmw_zenoh_cpp",
Expand Down Expand Up @@ -460,22 +463,25 @@ void GraphCache::parse_del(const std::string & keyexpr)
entity.node_name().c_str()
);
auto remove_topics =
[&](const GraphNode::TopicMap & topic_map, const EntityType & entity_type) -> void {
[&update_graph_topics](const GraphNode::TopicMap & topic_map,
const EntityType & entity_type, GraphCache & graph_cache) -> void {
std::size_t pub_count = entity_type == EntityType::Publisher ||
entity_type == EntityType::Client ? 1 : 0;
std::size_t sub_count = !pub_count;
for (auto topic_it = topic_map.begin(); topic_it != topic_map.end(); ++topic_it) {
for (auto type_it = topic_it->second.begin(); type_it != topic_it->second.end();
++type_it)
{
update_graph_topics(type_it->second->info_, entity_type, pub_count, sub_count);
update_graph_topics(
type_it->second->info_, entity_type, pub_count, sub_count,
graph_cache);
}
}
};
remove_topics(graph_node->pubs_, EntityType::Publisher);
remove_topics(graph_node->subs_, EntityType::Subscription);
remove_topics(graph_node->services_, EntityType::Service);
remove_topics(graph_node->clients_, EntityType::Client);
remove_topics(graph_node->pubs_, EntityType::Publisher, *this);
remove_topics(graph_node->subs_, EntityType::Subscription, *this);
remove_topics(graph_node->services_, EntityType::Service, *this);
remove_topics(graph_node->clients_, EntityType::Client, *this);
}
ns_it->second.erase(node_it);
RCUTILS_LOG_WARN_NAMED(
Expand All @@ -495,7 +501,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
}

// Update the graph based on the entity.
remove_topic_data(entity, *(node_it->second));
remove_topic_data(entity, *(node_it->second), *this);
}

///=============================================================================
Expand Down

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