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Take all available samples on service/client on_data_available. #616

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Jun 27, 2022
Merged

Take all available samples on service/client on_data_available. #616

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2 changes: 1 addition & 1 deletion rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
data.is_cdr_buffer = true;
data.data = response.buffer_.get();
data.impl = nullptr; // not used when is_cdr_buffer is true
if (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
while (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
if (response.sample_info_.valid_data) {
response.sample_identity_ = response.sample_info_.related_sample_identity;

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2 changes: 1 addition & 1 deletion rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -212,7 +212,7 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
data.is_cdr_buffer = true;
data.data = request.buffer_;
data.impl = nullptr; // not used when is_cdr_buffer is true
if (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
while (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
if (request.sample_info_.valid_data) {
request.sample_identity_ = request.sample_info_.sample_identity;
// Use response subscriber guid (on related_sample_identity) when present.
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