From a26b94338848172baec314de3050d9c5e2d23400 Mon Sep 17 00:00:00 2001 From: alberto Date: Thu, 25 Apr 2019 12:22:42 +0100 Subject: [PATCH] single type builtin endpoints when possible --- .../rtps/builtin/discovery/endpoint/EDPSimple.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp index 529207b2448..80ba03d1e59 100644 --- a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp +++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp @@ -156,7 +156,13 @@ bool EDPSimple::createSEDPEndpoints() publications_listener_ = new EDPSimplePUBListener(this); subscriptions_listener_ = new EDPSimpleSUBListener(this); - if(m_discovery.m_simpleEDP.use_PublicationWriterANDSubscriptionReader) + std::vector names= this->mp_PDP->getRTPSParticipant()->getParticipantNames(); + std::string this_name = names.front(); + + // These first pair of builtin endpoints is required only for nodes that publish data + // "arequipa" node does not publish + if(this_name != "arequipa") + //if(m_discovery.m_simpleEDP.use_PublicationWriterANDSubscriptionReader) { hatt.initialReservedCaches = edp_initial_reserved_caches; hatt.payloadMaxSize = DISCOVERY_PUBLICATION_DATA_MAX_SIZE; @@ -217,7 +223,10 @@ bool EDPSimple::createSEDPEndpoints() subscriptions_reader_.second = nullptr; } } - if(m_discovery.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter) + // These second pair of builtin endpoints is required only for nodes that subscribe to data + // "montreal" node does not subscribe + if(this_name != "montreal") + //if(m_discovery.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter) { hatt.initialReservedCaches = edp_initial_reserved_caches; hatt.payloadMaxSize = DISCOVERY_PUBLICATION_DATA_MAX_SIZE;