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Reduce GID storage to 16 bytes. #345

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Jan 23, 2023
Merged

Reduce GID storage to 16 bytes. #345

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12 changes: 7 additions & 5 deletions rmw/include/rmw/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,11 @@ extern "C"
#include "rmw/time.h"
#include "rmw/visibility_control.h"

// 24 bytes is the most memory needed to represent the GID by any current
// implementation. It may need to be increased in the future.
#define RMW_GID_STORAGE_SIZE 24u
// We define the GID as 16 bytes (128 bits). This should be enough to ensure
// uniqueness amongst all entities in the system. It is up to the individual
// RMW implementations to fill that in, either from the underlying middleware
// or from the RMW layer itself.
#define RMW_GID_STORAGE_SIZE 16u

/// Structure which encapsulates an rmw node
typedef struct RMW_PUBLIC_TYPE rmw_node_s
Expand Down Expand Up @@ -356,7 +358,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_wait_set_s
typedef struct RMW_PUBLIC_TYPE rmw_request_id_s
{
/// The guid of the writer associated with this request
int8_t writer_guid[16];
int8_t writer_guid[RMW_GID_STORAGE_SIZE];

/// Sequence number of this service
int64_t sequence_number;
Expand Down Expand Up @@ -622,7 +624,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_gid_s
/// Name of the rmw implementation
const char * implementation_identifier;

/// Bype data Gid value
/// Byte data Gid value
uint8_t data[RMW_GID_STORAGE_SIZE];
} rmw_gid_t;

Expand Down