Add more debugging listener callbacks (#44)

* Add all reader callbacks for debugging Signed-off-by: Raul Sanchez-Mateos <[email protected]> * Change log level on critial callbacks Signed-off-by: Raul Sanchez-Mateos <[email protected]> * Fix segfault in CommonReader::on_writer_discovery Signed-off-by: Juan López Fernández <[email protected]> * Delete reader's on_writer_discovery callback Signed-off-by: Juan López Fernández <[email protected]> * Add writer's on_requested_incompatible_qos callback Signed-off-by: Juan López Fernández <[email protected]> * Uncrustify Signed-off-by: Juan López Fernández <[email protected]> --------- Signed-off-by: Raul Sanchez-Mateos <[email protected]> Signed-off-by: Juan López Fernández <[email protected]> Co-authored-by: Raul Sanchez-Mateos <[email protected]>
eProsima · Jun 14, 2023 · 1113dee · 1113dee
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diff --git a/ddspipe_participants/include/ddspipe_participants/reader/rtps/CommonReader.hpp b/ddspipe_participants/include/ddspipe_participants/reader/rtps/CommonReader.hpp
@@ -112,6 +112,41 @@ class CommonReader : public BaseReader, public fastrtps::rtps::ReaderListener
             fastrtps::rtps::RTPSReader*,
             fastrtps::rtps::MatchingInfo& info) noexcept override;
 
+    /**
+     * This method is called when a new Writer is discovered, with a Topic that
+     * matches that of a local reader, but with an offered QoS that is incompatible
+     * with the one requested by the local reader
+     * @param qos A mask with the bits of all incompatible Qos activated.
+     */
+    DDSPIPE_PARTICIPANTS_DllAPI
+    void on_requested_incompatible_qos(
+            fastrtps::rtps::RTPSReader*,
+            eprosima::fastdds::dds::PolicyMask qos) noexcept override;
+
+    /**
+     * This method is called when the reader detects that one or more samples have been lost.
+     *
+     * @param sample_lost_since_last_update  The number of samples that were lost since the last time this
+     *                                       method was called for the same reader.
+     */
+    DDSPIPE_PARTICIPANTS_DllAPI
+    void on_sample_lost(
+            fastrtps::rtps::RTPSReader*,
+            int32_t sample_lost_since_last_update) noexcept override;
+
+    /**
+     * This method is called when the reader rejects a samples.
+     *
+     * @param reason  Indicates reason for sample rejection.
+     * @param change  Pointer to the CacheChange_t. This is a const pointer to const data
+     *                to indicate that the user should not dispose of this data himself.
+     */
+    DDSPIPE_PARTICIPANTS_DllAPI
+    void on_sample_rejected(
+            fastrtps::rtps::RTPSReader*,
+            eprosima::fastdds::dds::SampleRejectedStatusKind reason,
+            const fastrtps::rtps::CacheChange_t* const change) noexcept override;
+
     /////////////////////////
     // RPC REQUIRED METHODS
     /////////////////////////

diff --git a/ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp b/ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp
@@ -108,6 +108,17 @@ class CommonWriter : public BaseWriter, public fastrtps::rtps::WriterListener
             fastrtps::rtps::RTPSWriter*,
             fastrtps::rtps::MatchingInfo& info) noexcept override;
 
+    /**
+     * This method is called when a new Reader is discovered, with a Topic that
+     * matches that of a local writer, but with a requested QoS that is incompatible
+     * with the one offered by the local writer
+     * @param qos A mask with the bits of all incompatible Qos activated.
+     */
+    DDSPIPE_PARTICIPANTS_DllAPI
+    void on_offered_incompatible_qos(
+            fastrtps::rtps::RTPSWriter*,
+            eprosima::fastdds::dds::PolicyMask qos) noexcept override;
+
     /////////////////////
     // STATIC ATTRIBUTES
     /////////////////////

diff --git a/ddspipe_participants/src/cpp/reader/rtps/CommonReader.cpp b/ddspipe_participants/src/cpp/reader/rtps/CommonReader.cpp
@@ -454,6 +454,51 @@ void CommonReader::onReaderMatched(
     }
 }
 
+void CommonReader::on_requested_incompatible_qos(
+        fastrtps::rtps::RTPSReader*,
+        eprosima::fastdds::dds::PolicyMask qos) noexcept
+{
+    logWarning(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+            "Reader " << *this << " found a remote Writer with incompatible QoS: " << qos);
+}
+
+void CommonReader::on_sample_lost(
+        fastrtps::rtps::RTPSReader*,
+        int32_t sample_lost_since_last_update) noexcept
+{
+    logWarning(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+            "On reader " << *this << " a data sample was lost and will not be received");
+}
+
+void CommonReader::on_sample_rejected(
+        fastrtps::rtps::RTPSReader*,
+        eprosima::fastdds::dds::SampleRejectedStatusKind reason,
+        const fastrtps::rtps::CacheChange_t* const change) noexcept
+{
+    std::string reason_str;
+    switch (reason)
+    {
+        case eprosima::fastdds::dds::SampleRejectedStatusKind::NOT_REJECTED:
+            reason_str = "NOT_REJECTED";
+            break;
+        case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_INSTANCES_LIMIT:
+            reason_str = "REJECTED_BY_INSTANCES_LIMIT";
+            break;
+        case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_SAMPLES_LIMIT:
+            reason_str = "REJECTED_BY_SAMPLES_LIMIT";
+            break;
+        case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT:
+            reason_str = "REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT";
+            break;
+        default:
+            reason_str = "UNKNOWN";
+            break;
+    }
+    logInfo(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+            "Reader " << *this << " rejected a sample from " << change->writerGUID
+                      << ". Reason: " << reason_str);
+}
+
 utils::ReturnCode CommonReader::is_data_correct_(
         const fastrtps::rtps::CacheChange_t* received_change) const noexcept
 {

diff --git a/ddspipe_participants/src/cpp/writer/rtps/CommonWriter.cpp b/ddspipe_participants/src/cpp/writer/rtps/CommonWriter.cpp
@@ -123,6 +123,14 @@ void CommonWriter::onWriterMatched(
     }
 }
 
+void CommonWriter::on_offered_incompatible_qos(
+        fastrtps::rtps::RTPSWriter*,
+        eprosima::fastdds::dds::PolicyMask qos) noexcept
+{
+    logWarning(DDSPIPE_RTPS_COMMONWRITER_LISTENER,
+            "Writer " << *this << " found a remote Reader with incompatible QoS: " << qos);
+}
+
 bool CommonWriter::come_from_this_participant_(
         const fastrtps::rtps::GUID_t guid) const noexcept
 {