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fix QoS depth settings for clients/service ignored #564

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merged 1 commit into from
Oct 6, 2021
Merged

fix QoS depth settings for clients/service ignored #564

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7 changes: 7 additions & 0 deletions 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 @@ -33,6 +33,7 @@
#include "fastdds/dds/subscriber/DataReader.hpp"
#include "fastdds/dds/subscriber/DataReaderListener.hpp"
#include "fastdds/dds/subscriber/SampleInfo.hpp"
#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
#include "fastdds/dds/topic/TypeSupport.hpp"

#include "fastdds/rtps/common/Guid.h"
Expand Down Expand Up @@ -104,6 +105,12 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
response.sample_identity_.writer_guid() == info_->writer_guid_)
{
std::lock_guard<std::mutex> lock(internalMutex_);
const eprosima::fastrtps::HistoryQosPolicy & history = reader->get_qos().history();
if (eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == history.kind) {
while (list.size() >= static_cast<size_t>(history.depth)) {
list.pop_front();
}
}

if (conditionMutex_ != nullptr) {
std::unique_lock<std::mutex> clock(*conditionMutex_);
Expand Down
7 changes: 7 additions & 0 deletions 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 @@ -31,6 +31,7 @@
#include "fastdds/dds/subscriber/DataReader.hpp"
#include "fastdds/dds/subscriber/DataReaderListener.hpp"
#include "fastdds/dds/subscriber/SampleInfo.hpp"
#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
#include "fastdds/dds/topic/TypeSupport.hpp"

#include "fastdds/rtps/common/Guid.h"
Expand Down Expand Up @@ -225,6 +226,12 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
info_->pub_listener_->endpoint_add_reader_and_writer(reader_guid, writer_guid);

std::lock_guard<std::mutex> lock(internalMutex_);
const eprosima::fastrtps::HistoryQosPolicy & history = reader->get_qos().history();
if (eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == history.kind) {
while (list.size() >= static_cast<size_t>(history.depth)) {
list.pop_front();
}
}

if (conditionMutex_ != nullptr) {
std::unique_lock<std::mutex> clock(*conditionMutex_);
Expand Down