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Renamed variable. Removed unneded checks. Replaced get_unread_count w…
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…ith get_first_untaken_info

Signed-off-by: Javier Santiago <[email protected]>
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@jsan-rt
jsan-rt committed Jul 11, 2022
1 parent 2d8f68f commit 8fc0aa9
Showing 1 changed file with 21 additions and 51 deletions.
72 changes: 21 additions & 51 deletions rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,13 +56,14 @@ __rmw_wait(
// - Heap is corrupt.
// In all three cases, it's better if this crashes soon enough.
auto fastdds_wait_set = static_cast<eprosima::fastdds::dds::WaitSet *>(wait_set->data);
bool no_has_wait = false;
bool skip_wait = false;

if (subscriptions) {
for (size_t i = 0; i < subscriptions->subscriber_count; ++i) {
void * data = subscriptions->subscribers[i];
auto custom_subscriber_info = static_cast<CustomSubscriberInfo *>(data);
no_has_wait |= (0 < custom_subscriber_info->data_reader_->get_unread_count());
eprosima::fastdds::dds::SampleInfo sample_info;
skip_wait |= (ReturnCode_t::RETCODE_OK == custom_subscriber_info->data_reader_->get_first_untaken_info(&sample_info));
fastdds_wait_set->attach_condition(
custom_subscriber_info->data_reader_->get_statuscondition());
}
Expand All @@ -72,7 +73,8 @@ __rmw_wait(
for (size_t i = 0; i < clients->client_count; ++i) {
void * data = clients->clients[i];
auto custom_client_info = static_cast<CustomClientInfo *>(data);
no_has_wait |= (0 < custom_client_info->response_reader_->get_unread_count());
eprosima::fastdds::dds::SampleInfo sample_info;
skip_wait |= (ReturnCode_t::RETCODE_OK == custom_client_info->response_reader_->get_first_untaken_info(&sample_info));
fastdds_wait_set->attach_condition(
custom_client_info->response_reader_->get_statuscondition());
}
Expand All @@ -82,7 +84,8 @@ __rmw_wait(
for (size_t i = 0; i < services->service_count; ++i) {
void * data = services->services[i];
auto custom_service_info = static_cast<CustomServiceInfo *>(data);
no_has_wait |= (0 < custom_service_info->request_reader_->get_unread_count());
eprosima::fastdds::dds::SampleInfo sample_info;
skip_wait |= (ReturnCode_t::RETCODE_OK == custom_service_info->request_reader_->get_first_untaken_info(&sample_info));
fastdds_wait_set->attach_condition(
custom_service_info->request_reader_->get_statuscondition());
}
Expand Down Expand Up @@ -110,7 +113,7 @@ __rmw_wait(

eprosima::fastdds::dds::ConditionSeq triggered_coditions;
Duration_t timeout{0, 0};
if (!no_has_wait) {
if (!skip_wait) {
timeout = (wait_timeout) ?
Duration_t{static_cast<int32_t>(wait_timeout->sec),
static_cast<uint32_t>(wait_timeout->nsec)} : eprosima::fastrtps::c_TimeInfinite;
Expand All @@ -128,21 +131,15 @@ __rmw_wait(
eprosima::fastdds::dds::StatusCondition & status_condition =
custom_subscriber_info->data_reader_->get_statuscondition();
fastdds_wait_set->detach_condition(status_condition);
eprosima::fastdds::dds::Condition * condition = &status_condition;
if (ReturnCode_t::RETCODE_OK == ret_code &&
triggered_coditions.end() != std::find_if(
triggered_coditions.begin(), triggered_coditions.end(),
[condition](const eprosima::fastdds::dds::Condition * c)
{
return c == condition;
}))
eprosima::fastdds::dds::SampleInfo sample_info;
if (ReturnCode_t::RETCODE_OK == ret_code)
{
eprosima::fastdds::dds::Entity * entity = status_condition.get_entity();
eprosima::fastdds::dds::StatusMask changed_statuses = entity->get_status_changes();
if (!changed_statuses.is_active(eprosima::fastdds::dds::StatusMask::data_available())) {
subscriptions->subscribers[i] = 0;
}
} else if (0 == custom_subscriber_info->data_reader_->get_unread_count()) {
} else if (ReturnCode_t::RETCODE_OK == custom_subscriber_info->data_reader_->get_first_untaken_info(&sample_info)) {
subscriptions->subscribers[i] = 0;
}
}
Expand All @@ -155,21 +152,15 @@ __rmw_wait(
eprosima::fastdds::dds::StatusCondition & status_condition =
custom_client_info->response_reader_->get_statuscondition();
fastdds_wait_set->detach_condition(status_condition);
eprosima::fastdds::dds::Condition * condition = &status_condition;
if (ReturnCode_t::RETCODE_OK == ret_code &&
triggered_coditions.end() != std::find_if(
triggered_coditions.begin(), triggered_coditions.end(),
[condition](const eprosima::fastdds::dds::Condition * c)
{
return c == condition;
}))
eprosima::fastdds::dds::SampleInfo sample_info;
if (ReturnCode_t::RETCODE_OK == ret_code)
{
eprosima::fastdds::dds::Entity * entity = status_condition.get_entity();
eprosima::fastdds::dds::StatusMask changed_statuses = entity->get_status_changes();
if (!changed_statuses.is_active(eprosima::fastdds::dds::StatusMask::data_available())) {
clients->clients[i] = 0;
}
} else if (0 == custom_client_info->response_reader_->get_unread_count()) {
} else if (ReturnCode_t::RETCODE_OK == custom_client_info->response_reader_->get_first_untaken_info(&sample_info)) {
clients->clients[i] = 0;
}
}
Expand All @@ -182,21 +173,15 @@ __rmw_wait(
eprosima::fastdds::dds::StatusCondition & status_condition =
custom_service_info->request_reader_->get_statuscondition();
fastdds_wait_set->detach_condition(status_condition);
eprosima::fastdds::dds::Condition * condition = &status_condition;
if (ReturnCode_t::RETCODE_OK == ret_code &&
triggered_coditions.end() != std::find_if(
triggered_coditions.begin(), triggered_coditions.end(),
[condition](const eprosima::fastdds::dds::Condition * c)
{
return c == condition;
}))
eprosima::fastdds::dds::SampleInfo sample_info;
if (ReturnCode_t::RETCODE_OK == ret_code)
{
eprosima::fastdds::dds::Entity * entity = status_condition.get_entity();
eprosima::fastdds::dds::StatusMask changed_statuses = entity->get_status_changes();
if (!changed_statuses.is_active(eprosima::fastdds::dds::StatusMask::data_available())) {
services->services[i] = 0;
}
} else if (0 == custom_service_info->request_reader_->get_unread_count()) {
} else if (ReturnCode_t::RETCODE_OK == custom_service_info->request_reader_->get_first_untaken_info(&sample_info)) {
services->services[i] = 0;
}
}
Expand All @@ -210,17 +195,10 @@ __rmw_wait(
eprosima::fastdds::dds::StatusCondition & status_condition =
custom_event_info->get_listener()->get_statuscondition();
fastdds_wait_set->detach_condition(status_condition);
eprosima::fastdds::dds::Condition * condition = &status_condition;
eprosima::fastdds::dds::GuardCondition * guard_condition =
&custom_event_info->get_listener()->event_guard[event->event_type];
bool active = false;
if (ReturnCode_t::RETCODE_OK == ret_code &&
triggered_coditions.end() != std::find_if(
triggered_coditions.begin(), triggered_coditions.end(),
[condition](const eprosima::fastdds::dds::Condition * c)
{
return c == condition;
}))
if (ReturnCode_t::RETCODE_OK == ret_code)
{
eprosima::fastdds::dds::Entity * entity = status_condition.get_entity();
eprosima::fastdds::dds::StatusMask changed_statuses = entity->get_status_changes();
Expand All @@ -231,13 +209,7 @@ __rmw_wait(
active = true;
}
}
if (ReturnCode_t::RETCODE_OK == ret_code &&
triggered_coditions.end() != std::find_if(
triggered_coditions.begin(), triggered_coditions.end(),
[guard_condition](const eprosima::fastdds::dds::Condition * c)
{
return c == guard_condition;
}))
if (ReturnCode_t::RETCODE_OK == ret_code)
{
if (guard_condition->get_trigger_value()) {
active = true;
Expand Down Expand Up @@ -265,17 +237,15 @@ __rmw_wait(
return c == condition;
}))
{
if (!condition->get_trigger_value()) {
guard_conditions->guard_conditions[i] = 0;
}
guard_conditions->guard_conditions[i] = 0;
} else {
guard_conditions->guard_conditions[i] = 0;
}
condition->set_trigger_value(false);
}
}

return (no_has_wait || ReturnCode_t::RETCODE_OK == ret_code) ? RMW_RET_OK : RMW_RET_TIMEOUT;
return (skip_wait || ReturnCode_t::RETCODE_OK == ret_code) ? RMW_RET_OK : RMW_RET_TIMEOUT;
}

} // namespace rmw_fastrtps_shared_cpp

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