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Revert "Complete events support (ros2#583)"
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@timonegk
timonegk committed Jun 8, 2022
1 parent 09eb9e4 commit 92de55d
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Showing 6 changed files with 1 addition and 192 deletions.
10 changes: 0 additions & 10 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 @@ -61,7 +61,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
explicit PubListener(CustomPublisherInfo * info)
: deadline_changes_(false),
liveliness_changes_(false),
incompatible_qos_changes_(false),
conditionMutex_(nullptr),
conditionVariable_(nullptr)
{
Expand Down Expand Up @@ -95,11 +94,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
eprosima::fastdds::dds::DataWriter * writer,
const eprosima::fastdds::dds::LivelinessLostStatus & status) final;

RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
on_offered_incompatible_qos(
eprosima::fastdds::dds::DataWriter *,
const eprosima::fastdds::dds::OfferedIncompatibleQosStatus &) final;

// EventListenerInterface implementation
RMW_FASTRTPS_SHARED_CPP_PUBLIC
Expand Down Expand Up @@ -152,10 +146,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
eprosima::fastdds::dds::LivelinessLostStatus liveliness_lost_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::atomic_bool incompatible_qos_changes_;
eprosima::fastdds::dds::OfferedIncompatibleQosStatus incompatible_qos_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
};
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22 changes: 0 additions & 22 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 @@ -88,8 +88,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
: data_(false),
deadline_changes_(false),
liveliness_changes_(false),
sample_lost_changes_(false),
incompatible_qos_changes_(false),
conditionMutex_(nullptr),
conditionVariable_(nullptr)
{
Expand Down Expand Up @@ -141,18 +139,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
eprosima::fastdds::dds::DataReader *,
const eprosima::fastrtps::LivelinessChangedStatus &) final;

RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
on_sample_lost(
eprosima::fastdds::dds::DataReader *,
const eprosima::fastdds::dds::SampleLostStatus &) final;

RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
on_requested_incompatible_qos(
eprosima::fastdds::dds::DataReader *,
const eprosima::fastdds::dds::RequestedIncompatibleQosStatus &) final;

// EventListenerInterface implementation
RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
Expand Down Expand Up @@ -246,14 +232,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
eprosima::fastdds::dds::LivelinessChangedStatus liveliness_changed_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::atomic_bool sample_lost_changes_;
eprosima::fastdds::dds::SampleLostStatus sample_lost_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::atomic_bool incompatible_qos_changes_;
eprosima::fastdds::dds::RequestedIncompatibleQosStatus incompatible_qos_status_
RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

Expand Down
36 changes: 0 additions & 36 deletions rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,8 @@
// limitations under the License.

#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"

#include "fastdds/dds/core/status/BaseStatus.hpp"
#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"

#include "event_helpers.hpp"
#include "types/event_types.hpp"

EventListenerInterface *
Expand Down Expand Up @@ -79,25 +76,6 @@ void PubListener::on_liveliness_lost(
}
}

void PubListener::on_offered_incompatible_qos(
eprosima::fastdds::dds::DataWriter * /* writer */,
const eprosima::fastdds::dds::OfferedIncompatibleQosStatus & status)
{
std::lock_guard<std::mutex> lock(internalMutex_);

// the change to incompatible_qos_status_ needs to be mutually exclusive with
// rmw_wait() which checks hasEvent() and decides if wait() needs to be called
ConditionalScopedLock clock(conditionMutex_, conditionVariable_);

// Assign absolute values
incompatible_qos_status_.last_policy_id = status.last_policy_id;
incompatible_qos_status_.total_count = status.total_count;
// Accumulate deltas
incompatible_qos_status_.total_count_change += status.total_count_change;

incompatible_qos_changes_.store(true, std::memory_order_relaxed);
}

bool PubListener::hasEvent(rmw_event_type_t event_type) const
{
assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
Expand All @@ -106,8 +84,6 @@ bool PubListener::hasEvent(rmw_event_type_t event_type) const
return liveliness_changes_.load(std::memory_order_relaxed);
case RMW_EVENT_OFFERED_DEADLINE_MISSED:
return deadline_changes_.load(std::memory_order_relaxed);
case RMW_EVENT_OFFERED_QOS_INCOMPATIBLE:
return incompatible_qos_changes_.load(std::memory_order_relaxed);
default:
break;
}
Expand Down Expand Up @@ -157,18 +133,6 @@ bool PubListener::takeNextEvent(rmw_event_type_t event_type, void * event_info)
deadline_changes_.store(false, std::memory_order_relaxed);
}
break;
case RMW_EVENT_OFFERED_QOS_INCOMPATIBLE:
{
auto rmw_data = static_cast<rmw_requested_qos_incompatible_event_status_t *>(event_info);
rmw_data->total_count = incompatible_qos_status_.total_count;
rmw_data->total_count_change = incompatible_qos_status_.total_count_change;
rmw_data->last_policy_kind =
rmw_fastrtps_shared_cpp::internal::dds_qos_policy_to_rmw_qos_policy(
incompatible_qos_status_.last_policy_id);
incompatible_qos_status_.total_count_change = 0;
incompatible_qos_changes_.store(false, std::memory_order_relaxed);
}
break;
default:
return false;
}
Expand Down
63 changes: 0 additions & 63 deletions rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
#include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"

#include "event_helpers.hpp"
#include "types/event_types.hpp"

EventListenerInterface *
Expand Down Expand Up @@ -81,43 +80,6 @@ void SubListener::on_liveliness_changed(
}
}

void SubListener::on_sample_lost(
eprosima::fastdds::dds::DataReader * /* reader */,
const eprosima::fastdds::dds::SampleLostStatus & status)
{
std::lock_guard<std::mutex> lock(internalMutex_);

// the change to sample_lost_status_ needs to be mutually exclusive with
// rmw_wait() which checks hasEvent() and decides if wait() needs to be called
ConditionalScopedLock clock(conditionMutex_, conditionVariable_);

// Assign absolute values
sample_lost_status_.total_count = status.total_count;
// Accumulate deltas
sample_lost_status_.total_count_change += status.total_count_change;

sample_lost_changes_.store(true, std::memory_order_relaxed);
}

void SubListener::on_requested_incompatible_qos(
eprosima::fastdds::dds::DataReader * /* reader */,
const eprosima::fastdds::dds::RequestedIncompatibleQosStatus & status)
{
std::lock_guard<std::mutex> lock(internalMutex_);

// the change to incompatible_qos_status_ needs to be mutually exclusive with
// rmw_wait() which checks hasEvent() and decides if wait() needs to be called
ConditionalScopedLock clock(conditionMutex_, conditionVariable_);

// Assign absolute values
incompatible_qos_status_.last_policy_id = status.last_policy_id;
incompatible_qos_status_.total_count = status.total_count;
// Accumulate deltas
incompatible_qos_status_.total_count_change += status.total_count_change;

incompatible_qos_changes_.store(true, std::memory_order_relaxed);
}

bool SubListener::hasEvent(rmw_event_type_t event_type) const
{
assert(rmw_fastrtps_shared_cpp::internal::is_event_supported(event_type));
Expand All @@ -126,10 +88,6 @@ bool SubListener::hasEvent(rmw_event_type_t event_type) const
return liveliness_changes_.load(std::memory_order_relaxed);
case RMW_EVENT_REQUESTED_DEADLINE_MISSED:
return deadline_changes_.load(std::memory_order_relaxed);
case RMW_EVENT_MESSAGE_LOST:
return sample_lost_changes_.load(std::memory_order_relaxed);
case RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE:
return incompatible_qos_changes_.load(std::memory_order_relaxed);
default:
break;
}
Expand Down Expand Up @@ -183,27 +141,6 @@ bool SubListener::takeNextEvent(rmw_event_type_t event_type, void * event_info)
deadline_changes_.store(false, std::memory_order_relaxed);
}
break;
case RMW_EVENT_MESSAGE_LOST:
{
auto rmw_data = static_cast<rmw_message_lost_status_t *>(event_info);
rmw_data->total_count = sample_lost_status_.total_count;
rmw_data->total_count_change = sample_lost_status_.total_count_change;
sample_lost_status_.total_count_change = 0;
sample_lost_changes_.store(false, std::memory_order_relaxed);
}
break;
case RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE:
{
auto rmw_data = static_cast<rmw_requested_qos_incompatible_event_status_t *>(event_info);
rmw_data->total_count = incompatible_qos_status_.total_count;
rmw_data->total_count_change = incompatible_qos_status_.total_count_change;
rmw_data->last_policy_kind =
rmw_fastrtps_shared_cpp::internal::dds_qos_policy_to_rmw_qos_policy(
incompatible_qos_status_.last_policy_id);
incompatible_qos_status_.total_count_change = 0;
incompatible_qos_changes_.store(false, std::memory_order_relaxed);
}
break;
default:
return false;
}
Expand Down
33 changes: 0 additions & 33 deletions rmw_fastrtps_shared_cpp/src/event_helpers.hpp
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This file was deleted.

29 changes: 1 addition & 28 deletions rmw_fastrtps_shared_cpp/src/rmw_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@

#include "rmw/impl/cpp/macros.hpp"

#include "event_helpers.hpp"
#include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
#include "types/event_types.hpp"
Expand All @@ -25,10 +24,7 @@ static const std::unordered_set<rmw_event_type_t> g_rmw_event_type_set{
RMW_EVENT_LIVELINESS_CHANGED,
RMW_EVENT_REQUESTED_DEADLINE_MISSED,
RMW_EVENT_LIVELINESS_LOST,
RMW_EVENT_OFFERED_DEADLINE_MISSED,
RMW_EVENT_MESSAGE_LOST,
RMW_EVENT_OFFERED_QOS_INCOMPATIBLE,
RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE
RMW_EVENT_OFFERED_DEADLINE_MISSED
};

namespace rmw_fastrtps_shared_cpp
Expand All @@ -41,29 +37,6 @@ bool is_event_supported(rmw_event_type_t event_type)
return g_rmw_event_type_set.count(event_type) == 1;
}

rmw_qos_policy_kind_t dds_qos_policy_to_rmw_qos_policy(
eprosima::fastdds::dds::QosPolicyId_t policy_id)
{
using eprosima::fastdds::dds::QosPolicyId_t;

switch (policy_id) {
case QosPolicyId_t::DURABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_DURABILITY;
case QosPolicyId_t::DEADLINE_QOS_POLICY_ID:
return RMW_QOS_POLICY_DEADLINE;
case QosPolicyId_t::LIVELINESS_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIVELINESS;
case QosPolicyId_t::RELIABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_RELIABILITY;
case QosPolicyId_t::HISTORY_QOS_POLICY_ID:
return RMW_QOS_POLICY_HISTORY;
case QosPolicyId_t::LIFESPAN_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIFESPAN;
default:
return RMW_QOS_POLICY_INVALID;
}
}

} // namespace internal

rmw_ret_t
Expand Down

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