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Avoid unnecessary sets of GUID_t #586

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Avoid unnecessary sets of GUID_t #586

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c8eb812
Use get_publication_matched_status on rmw_publisher.
MiguelCompany Mar 1, 2022
9d55fd7
Use get_subscription_matched_status on rmw_subscription.
MiguelCompany Mar 1, 2022
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24 changes: 0 additions & 24 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@

#include "fastdds/dds/core/status/BaseStatus.hpp"
#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
#include "fastdds/dds/publisher/DataWriter.hpp"
#include "fastdds/dds/publisher/DataWriterListener.hpp"
#include "fastdds/dds/topic/Topic.hpp"
Expand Down Expand Up @@ -69,20 +68,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
}

// DataWriterListener implementation
RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
on_publication_matched(
eprosima::fastdds::dds::DataWriter * /* writer */,
const eprosima::fastdds::dds::PublicationMatchedStatus & info) final
{
std::lock_guard<std::mutex> lock(internalMutex_);
if (info.current_count_change == 1) {
subscriptions_.insert(eprosima::fastrtps::rtps::iHandle2GUID(info.last_subscription_handle));
} else if (info.current_count_change == -1) {
subscriptions_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_subscription_handle));
}
}

RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
on_offered_deadline_missed(
Expand Down Expand Up @@ -116,12 +101,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
takeNextEvent(rmw_event_type_t event_type, void * event_info) final;

// PubListener API
size_t subscriptionCount()
{
std::lock_guard<std::mutex> lock(internalMutex_);
return subscriptions_.size();
}

void
attachCondition(std::mutex * conditionMutex, std::condition_variable * conditionVariable)
{
Expand All @@ -141,9 +120,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
private:
mutable std::mutex internalMutex_;

std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::atomic_bool deadline_changes_;
eprosima::fastdds::dds::OfferedDeadlineMissedStatus offered_deadline_missed_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
Expand Down
17 changes: 0 additions & 17 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@

#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
#include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"
#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
#include "fastdds/dds/subscriber/DataReader.hpp"
#include "fastdds/dds/subscriber/DataReaderListener.hpp"
#include "fastdds/dds/topic/TypeSupport.hpp"
Expand Down Expand Up @@ -89,14 +88,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
eprosima::fastdds::dds::DataReader * reader,
const eprosima::fastdds::dds::SubscriptionMatchedStatus & info) final
{
{
std::lock_guard<std::mutex> lock(internalMutex_);
if (info.current_count_change == 1) {
publishers_.insert(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
} else if (info.current_count_change == -1) {
publishers_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
}
}
update_has_data(reader);
}

Expand Down Expand Up @@ -188,12 +179,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
data_.store(has_data, std::memory_order_relaxed);
}

size_t publisherCount()
{
std::lock_guard<std::mutex> lock(internalMutex_);
return publishers_.size();
}

// Provide handlers to perform an action when a
// new event from this listener has ocurred
void
Expand Down Expand Up @@ -242,8 +227,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

rmw_event_callback_t on_new_message_cb_{nullptr};
std::mutex on_new_message_m_;
size_t qos_depth_;
Expand Down
6 changes: 4 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rmw/impl/cpp/macros.hpp"
#include "rmw/rmw.h"

#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
#include "fastdds/dds/publisher/DataWriter.hpp"
#include "fastdds/dds/publisher/qos/DataWriterQos.hpp"

Expand Down Expand Up @@ -93,8 +94,9 @@ __rmw_publisher_count_matched_subscriptions(
size_t * subscription_count)
{
auto info = static_cast<CustomPublisherInfo *>(publisher->data);

*subscription_count = info->listener_->subscriptionCount();
eprosima::fastdds::dds::PublicationMatchedStatus status{};
info->data_writer_->get_publication_matched_status(status);
*subscription_count = status.current_count;

return RMW_RET_OK;
}
Expand Down
6 changes: 4 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rmw/error_handling.h"
#include "rmw/rmw.h"

#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
#include "fastdds/dds/subscriber/DataReader.hpp"
#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"

Expand Down Expand Up @@ -87,8 +88,9 @@ __rmw_subscription_count_matched_publishers(
size_t * publisher_count)
{
auto info = static_cast<CustomSubscriberInfo *>(subscription->data);

*publisher_count = info->listener_->publisherCount();
eprosima::fastdds::dds::SubscriptionMatchedStatus status{};
info->data_reader_->get_subscription_matched_status(status);
*publisher_count = status.current_count;

return RMW_RET_OK;
}
Expand Down