Hide new member for ABI stability

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

rclcpp/include/rclcpp/node.hpp

@@ -1592,12 +1592,14 @@ class Node : public std::enable_shared_from_this<Node>
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;
+
+  class BackportMemberMaps;
+  static BackportMemberMaps backport_member_maps_;
 };
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/node.cpp

@@ -110,6 +110,65 @@ create_effective_namespace(const std::string & node_namespace, const std::string
 
 }  // namespace
 
+/// \brief Associates new hidden backported members with instances of Node.
+class Node::BackportMemberMaps
+{
+public:
+  BackportMemberMaps() = default;
+
+  /// \brief Add all backported members for a new Node.
+  /**
+   * \param[in] key Raw pointer to the Node instance that will use new members.
+   */
+  void add(Node * key)
+  {
+    // Adding a new instance to the maps requires exclusive access
+    std::unique_lock lock(map_access_mutex_);
+    type_descriptions_map_.emplace(
+      key,
+      std::make_shared<rclcpp::node_interfaces::NodeTypeDescriptions>(
+        key->get_node_base_interface(),
+        key->get_node_logging_interface(),
+        key->get_node_parameters_interface(),
+        key->get_node_services_interface()));
+  }
+
+  /// \brief Remove the members for an instance of Node
+  /**
+   * \param[in] key Raw pointer to the Node
+   */
+  void remove(const Node * key)
+  {
+    // Removing an instance from the maps requires exclusive access
+    std::unique_lock lock(map_access_mutex_);
+    type_descriptions_map_.erase(key);
+  }
+
+  /// \brief Retrieve the NodeTypeDescriptionsInterface for a Node.
+  /**
+   * \param[in] key Raw pointer to an instance of Node.
+   * \return A shared ptr to this Node's NodeTypeDescriptionsInterface instance.
+   */
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  get_node_type_descriptions_interface(const Node * key) const
+  {
+    // Multiple threads can retrieve from the maps at the same time
+    std::shared_lock lock(map_access_mutex_);
+    return type_descriptions_map_.at(key);
+  }
+
+private:
+  /// \brief Map that stored TypeDescriptionsInterface members
+  std::unordered_map<
+    const Node *, rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  > type_descriptions_map_;
+
+  /// \brief Controls access to all private maps
+  mutable std::shared_mutex map_access_mutex_;
+};
+// Definition of static member declaration
+Node::BackportMemberMaps Node::backport_member_maps_;
+
 Node::Node(
   const std::string & node_name,
   const NodeOptions & options)
@@ -207,17 +266,13 @@ Node::Node(
       options.clock_qos(),
       options.use_clock_thread()
     )),
-  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
-      node_base_,
-      node_logging_,
-      node_parameters_,
-      node_services_
-    )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
   sub_namespace_(""),
   effective_namespace_(create_effective_namespace(this->get_namespace(), sub_namespace_))
 {
+  backport_member_maps_.add(this);
+
   // we have got what we wanted directly from the overrides,
   // but declare the parameters anyway so they are visible.
   rclcpp::detail::declare_qos_parameters(
@@ -279,6 +334,7 @@ Node::Node(
 Node::~Node()
 {
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
+  backport_member_maps_.remove(this);
   node_waitables_.reset();
   node_time_source_.reset();
   node_parameters_.reset();
@@ -601,7 +657,7 @@ Node::get_node_topics_interface()
 rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
 Node::get_node_type_descriptions_interface()
 {
-  return node_type_descriptions_;
+  return backport_member_maps_.get_node_type_descriptions_interface(this);
 }
 
 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -20,7 +20,6 @@
 #include "rclcpp/node_interfaces/node_base.hpp"
 
 #include "rcl/arguments.h"
-#include "rcl/node_type_cache.h"
 #include "rclcpp/exceptions.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/validate_namespace.h"

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -824,6 +824,10 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
+  /// Return the Node's internal NodeTypeDescriptionsInterface implementation.
+  /**
+   * \sa rclcpp::Node::get_node_type_descriptions_interface
+   */
   RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
   get_node_type_descriptions_interface();
@@ -1090,7 +1094,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -114,15 +114,13 @@ LifecycleNode::LifecycleNode(
       options.clock_qos(),
       options.use_clock_thread()
     )),
-  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
+  node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
+  node_options_(options),
+  impl_(new LifecycleNodeInterfaceImpl(
       node_base_,
       node_logging_,
       node_parameters_,
-      node_services_
-    )),
-  node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
-  node_options_(options),
-  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
+      node_services_))
 {
   impl_->init(enable_communication_interface);
 
@@ -481,6 +479,12 @@ LifecycleNode::get_node_services_interface()
   return node_services_;
 }
 
+rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+LifecycleNode::get_node_type_descriptions_interface()
+{
+  return impl_->get_node_type_descriptions_interface();
+}
+
 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
 LifecycleNode::get_node_parameters_interface()
 {

rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp

@@ -30,6 +30,7 @@
 
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
@@ -50,9 +51,16 @@ namespace rclcpp_lifecycle
 
 LifecycleNode::LifecycleNodeInterfaceImpl::LifecycleNodeInterfaceImpl(
   std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> node_parameters_interface,
   std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface)
 : node_base_interface_(node_base_interface),
-  node_services_interface_(node_services_interface)
+  node_services_interface_(node_services_interface),
+  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
+      node_base_interface,
+      node_logging_interface,
+      node_parameters_interface,
+      node_services_interface))
 {
 }
 
@@ -581,4 +589,10 @@ LifecycleNode::LifecycleNodeInterfaceImpl::on_deactivate() const
   }
 }
 
+rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+LifecycleNode::LifecycleNodeInterfaceImpl::get_node_type_descriptions_interface()
+{
+  return node_type_descriptions_;
+}
+
 }  // namespace rclcpp_lifecycle

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -52,6 +52,8 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
 public:
   LifecycleNodeInterfaceImpl(
     std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> node_parameters_interface,
     std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface);
 
   ~LifecycleNodeInterfaceImpl();
@@ -102,6 +104,9 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
   void
   add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
 
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  get_node_type_descriptions_interface();
+
 private:
   RCLCPP_DISABLE_COPY(LifecycleNodeInterfaceImpl)
 
@@ -172,6 +177,9 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
   // to controllable things
   std::vector<std::weak_ptr<rclcpp_lifecycle::ManagedEntityInterface>> weak_managed_entities_;
   std::vector<std::weak_ptr<rclcpp::TimerBase>> weak_timers_;
+
+  // Backported members hidden in impl
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
 };
 
 }  // namespace rclcpp_lifecycle