From 7c085b3e427172ea001b8de1cda24492d92d9c35 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Wed, 25 Mar 2020 12:06:57 +0100
Subject: [PATCH 1/4] Refs #7918. Uncrustify

---
 include/fastrtps/subscriber/Subscriber.h      |  24 +-
 .../fastrtps/subscriber/SubscriberHistory.h   | 308 +++++++++---------
 .../subscriber/Subscriber.cpp                 |  27 +-
 .../subscriber/SubscriberHistory.cpp          |  41 ++-
 .../subscriber/SubscriberImpl.cpp             | 127 ++++----
 .../subscriber/SubscriberImpl.h               |  58 +++-
 6 files changed, 320 insertions(+), 265 deletions(-)

diff --git a/include/fastrtps/subscriber/Subscriber.h b/include/fastrtps/subscriber/Subscriber.h
index 50830f1785a..cd5f041c4ef 100644
--- a/include/fastrtps/subscriber/Subscriber.h
+++ b/include/fastrtps/subscriber/Subscriber.h
@@ -43,14 +43,21 @@ class RTPS_DllAPI Subscriber
 {
     friend class SubscriberImpl;
 
-    virtual ~Subscriber() {}
+    virtual ~Subscriber()
+    {
+    }
 
 public:
+
     /**
      * Constructor from a SubscriberImpl pointer
      * @param pimpl Actual implementation of the subscriber
      */
-    Subscriber(SubscriberImpl* pimpl) : mp_impl(pimpl) {}
+    Subscriber(
+            SubscriberImpl* pimpl)
+        : mp_impl(pimpl)
+    {
+    }
 
     /**
      * Get the associated GUID
@@ -75,7 +82,8 @@ class RTPS_DllAPI Subscriber
      * @return true in case unread samples are available.
      * In other case, false.
      */
-    bool wait_for_unread_samples(const Duration_t& timeout);
+    bool wait_for_unread_samples(
+            const Duration_t& timeout);
 
     /**
      * @brief Reads next unread sample from the Subscriber.
@@ -106,7 +114,8 @@ class RTPS_DllAPI Subscriber
      * @param att Reference to a SubscriberAttributes object to update the parameters;
      * @return True if correctly updated, false if ANY of the updated parameters cannot be updated
      */
-    bool updateAttributes(const SubscriberAttributes& att);
+    bool updateAttributes(
+            const SubscriberAttributes& att);
 
     /**
      * Get the Attributes of the Subscriber.
@@ -141,15 +150,18 @@ class RTPS_DllAPI Subscriber
      * @brief Get the requested deadline missed status
      * @return The deadline missed status
      */
-    void get_requested_deadline_missed_status(RequestedDeadlineMissedStatus& status);
+    void get_requested_deadline_missed_status(
+            RequestedDeadlineMissedStatus& status);
 
     /**
      * @brief Returns the liveliness changed status
      * @param status Liveliness changed status
      */
-    void get_liveliness_changed_status(LivelinessChangedStatus& status);
+    void get_liveliness_changed_status(
+            LivelinessChangedStatus& status);
 
 private:
+
     SubscriberImpl* mp_impl;
 };
 
diff --git a/include/fastrtps/subscriber/SubscriberHistory.h b/include/fastrtps/subscriber/SubscriberHistory.h
index a85b97c8044..d8a6d8ce879 100644
--- a/include/fastrtps/subscriber/SubscriberHistory.h
+++ b/include/fastrtps/subscriber/SubscriberHistory.h
@@ -40,167 +40,167 @@ namespace fastrtps {
  * Class SubscriberHistory, container of the different CacheChanges of a subscriber
  *  @ingroup FASTRTPS_MODULE
  */
-class SubscriberHistory: public rtps::ReaderHistory
+class SubscriberHistory : public rtps::ReaderHistory
 {
-    public:
-
-        /**
-         * Constructor. Requires information about the subscriber.
-         * @param topic_att TopicAttributes.
-         * @param type TopicDataType.
-         * @param qos ReaderQoS policy.
-         * @param payloadMax Maximum payload size per change.
-         * @param mempolicy Set wether the payloads ccan dynamically resized or not.
-         */
-        SubscriberHistory(
+public:
+
+    /**
+     * Constructor. Requires information about the subscriber.
+     * @param topic_att TopicAttributes.
+     * @param type TopicDataType.
+     * @param qos ReaderQoS policy.
+     * @param payloadMax Maximum payload size per change.
+     * @param mempolicy Set wether the payloads ccan dynamically resized or not.
+     */
+    SubscriberHistory(
             const TopicAttributes& topic_att,
             fastdds::dds::TopicDataType* type,
             const fastrtps::ReaderQos& qos,
             uint32_t payloadMax,
             rtps::MemoryManagementPolicy_t mempolicy);
 
-        virtual ~SubscriberHistory();
-
-        /**
-         * Called when a change is received by the Subscriber. Will add the change to the history.
-         * @pre Change should not be already present in the history.
-         * @param[in] change The received change
-         * @param unknown_missing_changes_up_to Number of missing changes before this one
-         * @return
-         */
-        bool received_change(
-                rtps::CacheChange_t* change,
-                size_t unknown_missing_changes_up_to);
-
-        /** @name Read or take data methods.
-         * Methods to read or take data from the History.
-         * @param data Pointer to the object where you want to read or take the information.
-         * @param info Pointer to a SampleInfo_t object where you want
-         * @param max_blocking_time Maximum time the function can be blocked.
-         * to store the information about the retrieved data
-         */
-        ///@{
-        bool readNextData(
-                void* data,
-                SampleInfo_t* info,
-                std::chrono::steady_clock::time_point& max_blocking_time);
-
-        bool takeNextData(
-                void* data,
-                SampleInfo_t* info,
-                std::chrono::steady_clock::time_point& max_blocking_time);
-        ///@}
-
-        /**
-         * This method is called to remove a change from the SubscriberHistory.
-         * @param change Pointer to the CacheChange_t.
-         * @return True if removed.
-         */
-        bool remove_change_sub(
-                rtps::CacheChange_t* change);
-
-        /**
-         * @brief A method to set the next deadline for the given instance
-         * @param handle The handle to the instance
-         * @param next_deadline_us The time point when the deadline will occur
-         * @return True if the deadline was set correctly
-         */
-        bool set_next_deadline(
-                const rtps::InstanceHandle_t& handle,
-                const std::chrono::steady_clock::time_point& next_deadline_us);
-
-        /**
-         * @brief A method to get the next instance handle that will miss the deadline and the time when the deadline will occur
-         * @param handle The handle to the instance
-         * @param next_deadline_us The time point when the instance will miss the deadline
-         * @return True if the deadline was retrieved successfully
-         */
-        bool get_next_deadline(
-                rtps::InstanceHandle_t& handle,
-                std::chrono::steady_clock::time_point& next_deadline_us);
-
-    private:
-
-        using t_m_Inst_Caches = std::map<rtps::InstanceHandle_t, KeyedChanges>;
-
-        //!Map where keys are instance handles and values vectors of cache changes
-        t_m_Inst_Caches keyed_changes_;
-        //!Time point when the next deadline will occur (only used for topics with no key)
-        std::chrono::steady_clock::time_point next_deadline_us_;
-        //!HistoryQosPolicy values.
-        HistoryQosPolicy history_qos_;
-        //!ResourceLimitsQosPolicy values.
-        ResourceLimitsQosPolicy resource_limited_qos_;
-        //!Topic Attributes
-        TopicAttributes topic_att_;
-        //!TopicDataType
-        fastdds::dds::TopicDataType* type_;
-        //!ReaderQos
-        fastrtps::ReaderQos qos_;
-
-        //!Type object to deserialize Key
-        void* get_key_object_;
-
-        /// Function processing a received change
-        std::function<bool(rtps::CacheChange_t*, size_t)> receive_fn_;
-
-        /**
-         * @brief Method that finds a key in m_keyedChanges or tries to add it if not found
-         * @param a_change The change to get the key from
-         * @param map_it A map iterator to the given key
-         * @return True if it was found or could be added to the map
-         */
-        bool find_key(
-                rtps::CacheChange_t* a_change,
-                t_m_Inst_Caches::iterator* map_it);
-
-        /**
-         * @brief Method that finds a key in m_keyedChanges or tries to add it if not found
-         * @param a_change The change to get the key from
-         * @param map_it A map iterator to the given key
-         * @return True if it was found or could be added to the map
-         */
-        bool find_key_for_change(
-                rtps::CacheChange_t* a_change,
-                t_m_Inst_Caches::iterator& map_it);
-
-        /**
-         * @name Variants of incoming change processing.
-         *       Will be called with the history mutex taken.
-         * @param[in] change The received change
-         * @param unknown_missing_changes_up_to Number of missing changes before this one
-         * @return
-         */
-        ///@{
-        bool received_change_keep_all_no_key(
-                rtps::CacheChange_t* change,
-                size_t unknown_missing_changes_up_to);
-
-        bool received_change_keep_last_no_key(
-                rtps::CacheChange_t* change,
-                size_t unknown_missing_changes_up_to);
-
-        bool received_change_keep_all_with_key(
-                rtps::CacheChange_t* change,
-                size_t unknown_missing_changes_up_to);
-
-        bool received_change_keep_last_with_key(
-                rtps::CacheChange_t* change,
-                size_t unknown_missing_changes_up_to);
-        ///@}
-
-        bool add_received_change(
-                rtps::CacheChange_t* a_change);
-
-        bool add_received_change_with_key(
-                rtps::CacheChange_t* a_change,
-                std::vector<rtps::CacheChange_t*>& instance_changes);
-
-        bool deserialize_change(
-                rtps::CacheChange_t* change,
-                uint32_t ownership_strength,
-                void* data,
-                SampleInfo_t* info);
+    virtual ~SubscriberHistory();
+
+    /**
+     * Called when a change is received by the Subscriber. Will add the change to the history.
+     * @pre Change should not be already present in the history.
+     * @param[in] change The received change
+     * @param unknown_missing_changes_up_to Number of missing changes before this one
+     * @return
+     */
+    bool received_change(
+            rtps::CacheChange_t* change,
+            size_t unknown_missing_changes_up_to);
+
+    /** @name Read or take data methods.
+     * Methods to read or take data from the History.
+     * @param data Pointer to the object where you want to read or take the information.
+     * @param info Pointer to a SampleInfo_t object where you want
+     * @param max_blocking_time Maximum time the function can be blocked.
+     * to store the information about the retrieved data
+     */
+    ///@{
+    bool readNextData(
+            void* data,
+            SampleInfo_t* info,
+            std::chrono::steady_clock::time_point& max_blocking_time);
+
+    bool takeNextData(
+            void* data,
+            SampleInfo_t* info,
+            std::chrono::steady_clock::time_point& max_blocking_time);
+    ///@}
+
+    /**
+     * This method is called to remove a change from the SubscriberHistory.
+     * @param change Pointer to the CacheChange_t.
+     * @return True if removed.
+     */
+    bool remove_change_sub(
+            rtps::CacheChange_t* change);
+
+    /**
+     * @brief A method to set the next deadline for the given instance
+     * @param handle The handle to the instance
+     * @param next_deadline_us The time point when the deadline will occur
+     * @return True if the deadline was set correctly
+     */
+    bool set_next_deadline(
+            const rtps::InstanceHandle_t& handle,
+            const std::chrono::steady_clock::time_point& next_deadline_us);
+
+    /**
+     * @brief A method to get the next instance handle that will miss the deadline and the time when the deadline will occur
+     * @param handle The handle to the instance
+     * @param next_deadline_us The time point when the instance will miss the deadline
+     * @return True if the deadline was retrieved successfully
+     */
+    bool get_next_deadline(
+            rtps::InstanceHandle_t& handle,
+            std::chrono::steady_clock::time_point& next_deadline_us);
+
+private:
+
+    using t_m_Inst_Caches = std::map<rtps::InstanceHandle_t, KeyedChanges>;
+
+    //!Map where keys are instance handles and values vectors of cache changes
+    t_m_Inst_Caches keyed_changes_;
+    //!Time point when the next deadline will occur (only used for topics with no key)
+    std::chrono::steady_clock::time_point next_deadline_us_;
+    //!HistoryQosPolicy values.
+    HistoryQosPolicy history_qos_;
+    //!ResourceLimitsQosPolicy values.
+    ResourceLimitsQosPolicy resource_limited_qos_;
+    //!Topic Attributes
+    TopicAttributes topic_att_;
+    //!TopicDataType
+    fastdds::dds::TopicDataType* type_;
+    //!ReaderQos
+    fastrtps::ReaderQos qos_;
+
+    //!Type object to deserialize Key
+    void* get_key_object_;
+
+    /// Function processing a received change
+    std::function<bool(rtps::CacheChange_t*, size_t)> receive_fn_;
+
+    /**
+     * @brief Method that finds a key in m_keyedChanges or tries to add it if not found
+     * @param a_change The change to get the key from
+     * @param map_it A map iterator to the given key
+     * @return True if it was found or could be added to the map
+     */
+    bool find_key(
+            rtps::CacheChange_t* a_change,
+            t_m_Inst_Caches::iterator* map_it);
+
+    /**
+     * @brief Method that finds a key in m_keyedChanges or tries to add it if not found
+     * @param a_change The change to get the key from
+     * @param map_it A map iterator to the given key
+     * @return True if it was found or could be added to the map
+     */
+    bool find_key_for_change(
+            rtps::CacheChange_t* a_change,
+            t_m_Inst_Caches::iterator& map_it);
+
+    /**
+     * @name Variants of incoming change processing.
+     *       Will be called with the history mutex taken.
+     * @param[in] change The received change
+     * @param unknown_missing_changes_up_to Number of missing changes before this one
+     * @return
+     */
+    ///@{
+    bool received_change_keep_all_no_key(
+            rtps::CacheChange_t* change,
+            size_t unknown_missing_changes_up_to);
+
+    bool received_change_keep_last_no_key(
+            rtps::CacheChange_t* change,
+            size_t unknown_missing_changes_up_to);
+
+    bool received_change_keep_all_with_key(
+            rtps::CacheChange_t* change,
+            size_t unknown_missing_changes_up_to);
+
+    bool received_change_keep_last_with_key(
+            rtps::CacheChange_t* change,
+            size_t unknown_missing_changes_up_to);
+    ///@}
+
+    bool add_received_change(
+            rtps::CacheChange_t* a_change);
+
+    bool add_received_change_with_key(
+            rtps::CacheChange_t* a_change,
+            std::vector<rtps::CacheChange_t*>& instance_changes);
+
+    bool deserialize_change(
+            rtps::CacheChange_t* change,
+            uint32_t ownership_strength,
+            void* data,
+            SampleInfo_t* info);
 };
 
 } // namespace fastrtps
diff --git a/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp b/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
index a25eac18c7f..f2c258d64c4 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
@@ -30,21 +30,28 @@ const GUID_t& Subscriber::getGuid()
     return mp_impl->getGuid();
 }
 
-bool Subscriber::wait_for_unread_samples(const Duration_t& timeout)
+bool Subscriber::wait_for_unread_samples(
+        const Duration_t& timeout)
 {
     return mp_impl->wait_for_unread_samples(timeout);
 }
 
-bool Subscriber::readNextData(void* data,SampleInfo_t* info)
+bool Subscriber::readNextData(
+        void* data,
+        SampleInfo_t* info)
 {
-    return mp_impl->readNextData(data,info);
+    return mp_impl->readNextData(data, info);
 }
-bool Subscriber::takeNextData(void* data,SampleInfo_t* info)
+
+bool Subscriber::takeNextData(
+        void* data,
+        SampleInfo_t* info)
 {
-    return mp_impl->takeNextData(data,info);
+    return mp_impl->takeNextData(data, info);
 }
 
-bool Subscriber::updateAttributes(const SubscriberAttributes& att)
+bool Subscriber::updateAttributes(
+        const SubscriberAttributes& att)
 {
     return mp_impl->updateAttributes(att);
 }
@@ -61,15 +68,17 @@ bool Subscriber::isInCleanState() const
 
 uint64_t Subscriber::get_unread_count() const
 {
-	return mp_impl->get_unread_count();
+    return mp_impl->get_unread_count();
 }
 
-void Subscriber::get_requested_deadline_missed_status(RequestedDeadlineMissedStatus& status)
+void Subscriber::get_requested_deadline_missed_status(
+        RequestedDeadlineMissedStatus& status)
 {
     mp_impl->get_requested_deadline_missed_status(status);
 }
 
-void Subscriber::get_liveliness_changed_status(LivelinessChangedStatus &status)
+void Subscriber::get_liveliness_changed_status(
+        LivelinessChangedStatus& status)
 {
     mp_impl->get_liveliness_changed_status(status);
 }
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
index 5b740d0c075..2cd2d761e1f 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
@@ -71,14 +71,14 @@ SubscriberHistory::SubscriberHistory(
     if (topic_att.getTopicKind() == NO_KEY)
     {
         receive_fn_ = topic_att.historyQos.kind == KEEP_ALL_HISTORY_QOS ?
-            std::bind(&SubscriberHistory::received_change_keep_all_no_key, this, _1, _2) :
-            std::bind(&SubscriberHistory::received_change_keep_last_no_key, this, _1, _2);
+                std::bind(&SubscriberHistory::received_change_keep_all_no_key, this, _1, _2) :
+                std::bind(&SubscriberHistory::received_change_keep_last_no_key, this, _1, _2);
     }
     else
     {
         receive_fn_ = topic_att.historyQos.kind == KEEP_ALL_HISTORY_QOS ?
-            std::bind(&SubscriberHistory::received_change_keep_all_with_key, this, _1, _2) :
-            std::bind(&SubscriberHistory::received_change_keep_last_with_key, this, _1, _2);
+                std::bind(&SubscriberHistory::received_change_keep_all_with_key, this, _1, _2) :
+                std::bind(&SubscriberHistory::received_change_keep_last_with_key, this, _1, _2);
     }
 }
 
@@ -157,7 +157,7 @@ bool SubscriberHistory::received_change_keep_all_with_key(
             return add_received_change_with_key(a_change, vit->second.cache_changes);
         }
 
-        logWarning(SUBSCRIBER, "Change not added due to maximum number of samples per instance";);
+        logWarning(SUBSCRIBER, "Change not added due to maximum number of samples per instance");
     }
 
     return false;
@@ -211,8 +211,8 @@ bool SubscriberHistory::add_received_change(
         }
 
         logInfo(SUBSCRIBER, topic_att_.getTopicDataType()
-            << ": Change " << a_change->sequenceNumber << " added from: "
-            << a_change->writerGUID;);
+                << ": Change " << a_change->sequenceNumber << " added from: "
+                << a_change->writerGUID; );
 
         return true;
     }
@@ -245,8 +245,8 @@ bool SubscriberHistory::add_received_change_with_key(
         instance_changes.push_back(a_change);
 
         logInfo(SUBSCRIBER, mp_reader->getGuid().entityId
-            << ": Change " << a_change->sequenceNumber << " added from: "
-            << a_change->writerGUID << " with KEY: " << a_change->instanceHandle;);
+                << ": Change " << a_change->sequenceNumber << " added from: "
+                << a_change->writerGUID << " with KEY: " << a_change->instanceHandle; );
 
         return true;
     }
@@ -274,7 +274,7 @@ bool SubscriberHistory::find_key_for_change(
     else if (!a_change->instanceHandle.isDefined())
     {
         logWarning(SUBSCRIBER, "NO KEY in topic: " << topic_att_.topicName
-            << " and no method to obtain it";);
+                                                   << " and no method to obtain it"; );
         return false;
     }
 
@@ -348,7 +348,6 @@ bool SubscriberHistory::readNextData(
     return false;
 }
 
-
 bool SubscriberHistory::takeNextData(
         void* data,
         SampleInfo_t* info,
@@ -400,7 +399,7 @@ bool SubscriberHistory::find_key(
     }
     else
     {
-        for (vit = keyed_changes_.begin(); vit!= keyed_changes_.end(); ++vit)
+        for (vit = keyed_changes_.begin(); vit != keyed_changes_.end(); ++vit)
         {
             if (vit->second.cache_changes.size() == 0)
             {
@@ -486,8 +485,8 @@ bool SubscriberHistory::set_next_deadline(
 }
 
 bool SubscriberHistory::get_next_deadline(
-        InstanceHandle_t &handle,
-        std::chrono::steady_clock::time_point &next_deadline_us)
+        InstanceHandle_t& handle,
+        std::chrono::steady_clock::time_point& next_deadline_us)
 {
     if (mp_reader == nullptr || mp_mutex == nullptr)
     {
@@ -504,13 +503,13 @@ bool SubscriberHistory::get_next_deadline(
     else if (topic_att_.getTopicKind() == WITH_KEY)
     {
         auto min = std::min_element(keyed_changes_.begin(),
-                                    keyed_changes_.end(),
-                                    [](
-                                        const std::pair<InstanceHandle_t, KeyedChanges> &lhs,
-                                        const std::pair<InstanceHandle_t, KeyedChanges> &rhs)
-                                        {
-                                            return lhs.second.next_deadline_us < rhs.second.next_deadline_us;
-                                        });
+                        keyed_changes_.end(),
+                        [](
+                            const std::pair<InstanceHandle_t, KeyedChanges>& lhs,
+                            const std::pair<InstanceHandle_t, KeyedChanges>& rhs)
+                {
+                    return lhs.second.next_deadline_us < rhs.second.next_deadline_us;
+                });
         handle = min->first;
         next_deadline_us = min->second.next_deadline_us;
         return true;
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
index b66fe5b11cc..558c070a241 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
@@ -51,10 +51,10 @@ SubscriberImpl::SubscriberImpl(
     , m_att(att)
 #pragma warning (disable : 4355 )
     , m_history(att.topic,
-                ptype,
-                att.qos,
-                ptype->m_typeSize  + 3/*Possible alignment*/,
-                att.historyMemoryPolicy)
+            ptype,
+            att.qos,
+            ptype->m_typeSize  + 3 /*Possible alignment*/,
+            att.historyMemoryPolicy)
     , mp_listener(listen)
     , m_readerListener(this)
     , mp_userSubscriber(nullptr)
@@ -64,18 +64,18 @@ SubscriberImpl::SubscriberImpl(
     , lifespan_duration_us_(m_att.qos.m_lifespan.duration.to_ns() * 1e-3)
 {
     deadline_timer_ = new TimedEvent(mp_participant->get_resource_event(),
-            [&]() -> bool
+                    [&]() -> bool
             {
                 return deadline_missed();
             },
-            att.qos.m_deadline.period.to_ns() * 1e-6);
+                    att.qos.m_deadline.period.to_ns() * 1e-6);
 
     lifespan_timer_ = new TimedEvent(mp_participant->get_resource_event(),
-            [&]() -> bool
+                    [&]() -> bool
             {
                 return lifespan_expired();
             },
-            att.qos.m_lifespan.duration.to_ns() * 1e-6);
+                    att.qos.m_lifespan.duration.to_ns() * 1e-6);
 }
 
 SubscriberImpl::~SubscriberImpl()
@@ -83,38 +83,43 @@ SubscriberImpl::~SubscriberImpl()
     delete(lifespan_timer_);
     delete(deadline_timer_);
 
-    if(mp_reader != nullptr)
+    if (mp_reader != nullptr)
     {
-        logInfo(SUBSCRIBER,this->getGuid().entityId << " in topic: "<<this->m_att.topic.topicName);
+        logInfo(SUBSCRIBER, this->getGuid().entityId << " in topic: " << this->m_att.topic.topicName);
     }
 
     RTPSDomain::removeRTPSReader(mp_reader);
     delete(this->mp_userSubscriber);
 }
 
-bool SubscriberImpl::wait_for_unread_samples(const Duration_t& timeout)
+bool SubscriberImpl::wait_for_unread_samples(
+        const Duration_t& timeout)
 {
     return mp_reader->wait_for_unread_cache(timeout);
 }
 
-bool SubscriberImpl::readNextData(void* data,SampleInfo_t* info)
+bool SubscriberImpl::readNextData(
+        void* data,
+        SampleInfo_t* info)
 {
     auto max_blocking_time = std::chrono::steady_clock::now() +
 #if HAVE_STRICT_REALTIME
-        std::chrono::microseconds(::TimeConv::Time_t2MicroSecondsInt64(m_att.qos.m_reliability.max_blocking_time));
+            std::chrono::microseconds(::TimeConv::Time_t2MicroSecondsInt64(m_att.qos.m_reliability.max_blocking_time));
 #else
-        std::chrono::hours(24);
+            std::chrono::hours(24);
 #endif
     return this->m_history.readNextData(data, info, max_blocking_time);
 }
 
-bool SubscriberImpl::takeNextData(void* data,SampleInfo_t* info)
+bool SubscriberImpl::takeNextData(
+        void* data,
+        SampleInfo_t* info)
 {
     auto max_blocking_time = std::chrono::steady_clock::now() +
 #if HAVE_STRICT_REALTIME
-        std::chrono::microseconds(::TimeConv::Time_t2MicroSecondsInt64(m_att.qos.m_reliability.max_blocking_time));
+            std::chrono::microseconds(::TimeConv::Time_t2MicroSecondsInt64(m_att.qos.m_reliability.max_blocking_time));
 #else
-        std::chrono::hours(24);
+            std::chrono::hours(24);
 #endif
     return this->m_history.takeNextData(data, info, max_blocking_time);
 }
@@ -124,80 +129,81 @@ const GUID_t& SubscriberImpl::getGuid()
     return mp_reader->getGuid();
 }
 
-bool SubscriberImpl::updateAttributes(const SubscriberAttributes& att)
+bool SubscriberImpl::updateAttributes(
+        const SubscriberAttributes& att)
 {
     bool updated = true;
     bool missing = false;
-    if(att.unicastLocatorList.size() != this->m_att.unicastLocatorList.size() ||
+    if (att.unicastLocatorList.size() != this->m_att.unicastLocatorList.size() ||
             att.multicastLocatorList.size() != this->m_att.multicastLocatorList.size())
     {
-        logWarning(RTPS_READER,"Locator Lists cannot be changed or updated in this version");
+        logWarning(RTPS_READER, "Locator Lists cannot be changed or updated in this version");
         updated &= false;
     }
     else
     {
-        for(LocatorListConstIterator lit1 = this->m_att.unicastLocatorList.begin();
-                lit1!=this->m_att.unicastLocatorList.end();++lit1)
+        for (LocatorListConstIterator lit1 = this->m_att.unicastLocatorList.begin();
+                lit1 != this->m_att.unicastLocatorList.end(); ++lit1)
         {
             missing = true;
-            for(LocatorListConstIterator lit2 = att.unicastLocatorList.begin();
-                    lit2!= att.unicastLocatorList.end();++lit2)
+            for (LocatorListConstIterator lit2 = att.unicastLocatorList.begin();
+                    lit2 != att.unicastLocatorList.end(); ++lit2)
             {
-                if(*lit1 == *lit2)
+                if (*lit1 == *lit2)
                 {
                     missing = false;
                     break;
                 }
             }
-            if(missing)
+            if (missing)
             {
-                logWarning(RTPS_READER,"Locator: "<< *lit1 << " not present in new list");
-                logWarning(RTPS_READER,"Locator Lists cannot be changed or updated in this version");
+                logWarning(RTPS_READER, "Locator: " << *lit1 << " not present in new list");
+                logWarning(RTPS_READER, "Locator Lists cannot be changed or updated in this version");
             }
         }
-        for(LocatorListConstIterator lit1 = this->m_att.multicastLocatorList.begin();
-                lit1!=this->m_att.multicastLocatorList.end();++lit1)
+        for (LocatorListConstIterator lit1 = this->m_att.multicastLocatorList.begin();
+                lit1 != this->m_att.multicastLocatorList.end(); ++lit1)
         {
             missing = true;
-            for(LocatorListConstIterator lit2 = att.multicastLocatorList.begin();
-                    lit2!= att.multicastLocatorList.end();++lit2)
+            for (LocatorListConstIterator lit2 = att.multicastLocatorList.begin();
+                    lit2 != att.multicastLocatorList.end(); ++lit2)
             {
-                if(*lit1 == *lit2)
+                if (*lit1 == *lit2)
                 {
                     missing = false;
                     break;
                 }
             }
-            if(missing)
+            if (missing)
             {
-                logWarning(RTPS_READER,"Locator: "<< *lit1<< " not present in new list");
-                logWarning(RTPS_READER,"Locator Lists cannot be changed or updated in this version");
+                logWarning(RTPS_READER, "Locator: " << *lit1 << " not present in new list");
+                logWarning(RTPS_READER, "Locator Lists cannot be changed or updated in this version");
             }
         }
     }
 
     //TOPIC ATTRIBUTES
-    if(this->m_att.topic != att.topic)
+    if (this->m_att.topic != att.topic)
     {
-        logWarning(RTPS_READER,"Topic Attributes cannot be updated");
+        logWarning(RTPS_READER, "Topic Attributes cannot be updated");
         updated &= false;
     }
     //QOS:
     //CHECK IF THE QOS CAN BE SET
-    if(!this->m_att.qos.canQosBeUpdated(att.qos))
+    if (!this->m_att.qos.canQosBeUpdated(att.qos))
     {
-        updated &=false;
+        updated &= false;
     }
-    if(updated)
+    if (updated)
     {
         this->m_att.expectsInlineQos = att.expectsInlineQos;
-        if(this->m_att.qos.m_reliability.kind == RELIABLE_RELIABILITY_QOS)
+        if (this->m_att.qos.m_reliability.kind == RELIABLE_RELIABILITY_QOS)
         {
             //UPDATE TIMES:
             StatefulReader* sfr = (StatefulReader*)mp_reader;
             sfr->updateTimes(att.times);
         }
-        this->m_att.qos.setQos(att.qos,false);
+        this->m_att.qos.setQos(att.qos, false);
         //NOTIFY THE BUILTIN PROTOCOLS THAT THE READER HAS CHANGED
         mp_rtpsParticipant->updateReader(this->mp_reader, m_att.topic, m_att.qos);
 
@@ -206,7 +212,7 @@ bool SubscriberImpl::updateAttributes(const SubscriberAttributes& att)
         if (m_att.qos.m_deadline.period != c_TimeInfinite)
         {
             deadline_duration_us_ =
-                    duration<double, std::ratio<1, 1000000>>(m_att.qos.m_deadline.period.to_ns() * 1e-3);
+                    duration<double, std::ratio<1, 1000000> >(m_att.qos.m_deadline.period.to_ns() * 1e-3);
             deadline_timer_->update_interval_millisec(m_att.qos.m_deadline.period.to_ns() * 1e-6);
         }
         else
@@ -219,7 +225,8 @@ bool SubscriberImpl::updateAttributes(const SubscriberAttributes& att)
         if (m_att.qos.m_lifespan.duration != c_TimeInfinite)
         {
             lifespan_duration_us_ =
-                    std::chrono::duration<double, std::ratio<1, 1000000>>(m_att.qos.m_lifespan.duration.to_ns() * 1e-3);
+                    std::chrono::duration<double,
+                            std::ratio<1, 1000000> >(m_att.qos.m_lifespan.duration.to_ns() * 1e-3);
             lifespan_timer_->update_interval_millisec(m_att.qos.m_lifespan.duration.to_ns() * 1e-6);
         }
         else
@@ -233,11 +240,11 @@ bool SubscriberImpl::updateAttributes(const SubscriberAttributes& att)
 
 void SubscriberImpl::SubscriberReaderListener::onNewCacheChangeAdded(
         RTPSReader* /*reader*/,
-        const CacheChange_t * const change_in)
+        const CacheChange_t* const change_in)
 {
     if (mp_subscriberImpl->onNewCacheChangeAdded(change_in))
     {
-        if(mp_subscriberImpl->mp_listener != nullptr)
+        if (mp_subscriberImpl->mp_listener != nullptr)
         {
             //cout << "FIRST BYTE: "<< (int)change->serializedPayload.data[0] << endl;
             mp_subscriberImpl->mp_listener->onNewDataMessage(mp_subscriberImpl->mp_userSubscriber);
@@ -245,29 +252,32 @@ void SubscriberImpl::SubscriberReaderListener::onNewCacheChangeAdded(
     }
 }
 
-void SubscriberImpl::SubscriberReaderListener::onReaderMatched(RTPSReader* /*reader*/, MatchingInfo& info)
+void SubscriberImpl::SubscriberReaderListener::onReaderMatched(
+        RTPSReader* /*reader*/,
+        MatchingInfo& info)
 {
     if (this->mp_subscriberImpl->mp_listener != nullptr)
     {
-        mp_subscriberImpl->mp_listener->onSubscriptionMatched(mp_subscriberImpl->mp_userSubscriber,info);
+        mp_subscriberImpl->mp_listener->onSubscriptionMatched(mp_subscriberImpl->mp_userSubscriber, info);
     }
 }
 
 void SubscriberImpl::SubscriberReaderListener::on_liveliness_changed(
-        RTPSReader *reader,
-        const LivelinessChangedStatus &status)
+        RTPSReader* reader,
+        const LivelinessChangedStatus& status)
 {
     (void)reader;
 
     if (mp_subscriberImpl->mp_listener != nullptr)
     {
         mp_subscriberImpl->mp_listener->on_liveliness_changed(
-                    mp_subscriberImpl->mp_userSubscriber,
-                    status);
+            mp_subscriberImpl->mp_userSubscriber,
+            status);
     }
 }
 
-bool SubscriberImpl::onNewCacheChangeAdded(const CacheChange_t* const change_in)
+bool SubscriberImpl::onNewCacheChangeAdded(
+        const CacheChange_t* const change_in)
 {
     if (m_att.qos.m_deadline.period != c_TimeInfinite)
     {
@@ -281,7 +291,7 @@ bool SubscriberImpl::onNewCacheChangeAdded(const CacheChange_t* const change_in)
         }
         else if (timer_owner_ == change_in->instanceHandle || timer_owner_ == InstanceHandle_t())
         {
-            if(deadline_timer_reschedule())
+            if (deadline_timer_reschedule())
             {
                 deadline_timer_->cancel_timer();
                 deadline_timer_->restart_timer();
@@ -387,8 +397,8 @@ bool SubscriberImpl::deadline_missed()
     return deadline_timer_reschedule();
 }
 
-
-void SubscriberImpl::get_requested_deadline_missed_status(RequestedDeadlineMissedStatus& status)
+void SubscriberImpl::get_requested_deadline_missed_status(
+        RequestedDeadlineMissedStatus& status)
 {
     std::unique_lock<RecursiveTimedMutex> lock(mp_reader->getMutex());
 
@@ -437,7 +447,8 @@ bool SubscriberImpl::lifespan_expired()
     return true;
 }
 
-void SubscriberImpl::get_liveliness_changed_status(LivelinessChangedStatus &status)
+void SubscriberImpl::get_liveliness_changed_status(
+        LivelinessChangedStatus& status)
 {
     std::unique_lock<RecursiveTimedMutex> lock(mp_reader->getMutex());
 
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
index 9cc708dd437..29dbdeed609 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
@@ -33,8 +33,7 @@
 
 namespace eprosima {
 namespace fastrtps {
-namespace rtps
-{
+namespace rtps {
 class RTPSReader;
 class RTPSParticipant;
 class TimedEvent;
@@ -53,7 +52,8 @@ class Subscriber;
 class SubscriberImpl
 {
     friend class ParticipantImpl;
-    public:
+
+public:
 
     /**
      * @param p
@@ -73,7 +73,8 @@ class SubscriberImpl
      * Method to block the current thread until an unread sasmple is available.
      * @param timeout Maximun time the function will be blocked if any sample is received.
      */
-    bool wait_for_unread_samples(const eprosima::fastrtps::Duration_t& timeout);
+    bool wait_for_unread_samples(
+            const eprosima::fastrtps::Duration_t& timeout);
 
 
     /** @name Read or take data methods.
@@ -82,8 +83,12 @@ class SubscriberImpl
 
     ///@{
 
-    bool readNextData(void* data,SampleInfo_t* info);
-    bool takeNextData(void* data,SampleInfo_t* info);
+    bool readNextData(
+            void* data,
+            SampleInfo_t* info);
+    bool takeNextData(
+            void* data,
+            SampleInfo_t* info);
 
     ///@}
 
@@ -92,7 +97,8 @@ class SubscriberImpl
      * @param att Reference to a SubscriberAttributes object to update the parameters;
      * @return True if correctly updated, false if ANY of the updated parameters cannot be updated
      */
-    bool updateAttributes(const SubscriberAttributes& att);
+    bool updateAttributes(
+            const SubscriberAttributes& att);
 
     /**
      * Get associated GUID
@@ -104,13 +110,19 @@ class SubscriberImpl
      * Get the Attributes of the Subscriber.
      * @return Attributes of the Subscriber.
      */
-    const SubscriberAttributes& getAttributes() const {return m_att;}
+    const SubscriberAttributes& getAttributes() const
+    {
+        return m_att;
+    }
 
     /**
      * Get topic data type
      * @return Topic data type
      */
-    fastdds::dds::TopicDataType* getType() {return mp_type;}
+    fastdds::dds::TopicDataType* getType()
+    {
+        return mp_type;
+    }
 
     /*!
      * @brief Returns there is a clean state with all Publishers.
@@ -131,19 +143,22 @@ class SubscriberImpl
      * @param change The cache change that has been added
      * @return True if the change was added (due to some QoS it could have been 'rejected')
      */
-    bool onNewCacheChangeAdded(const rtps::CacheChange_t* const change);
+    bool onNewCacheChangeAdded(
+            const rtps::CacheChange_t* const change);
 
     /**
      * @brief Get the requested deadline missed status
      * @return The deadline missed status
      */
-    void get_requested_deadline_missed_status(RequestedDeadlineMissedStatus& status);
+    void get_requested_deadline_missed_status(
+            RequestedDeadlineMissedStatus& status);
 
     /**
      * @brief Returns the liveliness changed status
      * @param status Liveliness changed status
      */
-    void get_liveliness_changed_status(LivelinessChangedStatus& status);
+    void get_liveliness_changed_status(
+            LivelinessChangedStatus& status);
 
 private:
 
@@ -163,9 +178,18 @@ class SubscriberImpl
 
     class SubscriberReaderListener : public rtps::ReaderListener
     {
-    public:
-        SubscriberReaderListener(SubscriberImpl* s): mp_subscriberImpl(s) {}
-        virtual ~SubscriberReaderListener() {}
+public:
+
+        SubscriberReaderListener(
+                SubscriberImpl* s)
+            : mp_subscriberImpl(s)
+        {
+        }
+
+        virtual ~SubscriberReaderListener()
+        {
+        }
+
         void onReaderMatched(
                 rtps::RTPSReader* reader,
                 rtps::MatchingInfo& info) override;
@@ -185,7 +209,7 @@ class SubscriberImpl
     //! A timer used to check for deadlines
     rtps::TimedEvent* deadline_timer_;
     //! Deadline duration in microseconds
-    std::chrono::duration<double, std::ratio<1, 1000000>> deadline_duration_us_;
+    std::chrono::duration<double, std::ratio<1, 1000000> > deadline_duration_us_;
     //! The current timer owner, i.e. the instance which started the deadline timer
     rtps::InstanceHandle_t timer_owner_;
     //! Requested deadline missed status
@@ -194,7 +218,7 @@ class SubscriberImpl
     //! A timed callback to remove expired samples
     rtps::TimedEvent* lifespan_timer_;
     //! The lifespan duration
-    std::chrono::duration<double, std::ratio<1, 1000000>> lifespan_duration_us_;
+    std::chrono::duration<double, std::ratio<1, 1000000> > lifespan_duration_us_;
 
     /**
      * @brief Method called when an instance misses the deadline

From 3bead21935c954e5ec21965e19c1d1bf95798ade Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Wed, 25 Mar 2020 12:55:38 +0100
Subject: [PATCH 2/4] Refs #7918. Adding new method get_first_untaken_info.

---
 include/fastrtps/subscriber/Subscriber.h      |  8 ++++
 .../fastrtps/subscriber/SubscriberHistory.h   |  8 ++++
 .../subscriber/Subscriber.cpp                 |  6 +++
 .../subscriber/SubscriberHistory.cpp          | 44 +++++++++++++++----
 .../subscriber/SubscriberImpl.cpp             |  6 +++
 .../subscriber/SubscriberImpl.h               |  8 ++++
 6 files changed, 71 insertions(+), 9 deletions(-)

diff --git a/include/fastrtps/subscriber/Subscriber.h b/include/fastrtps/subscriber/Subscriber.h
index cd5f041c4ef..619fa9b160d 100644
--- a/include/fastrtps/subscriber/Subscriber.h
+++ b/include/fastrtps/subscriber/Subscriber.h
@@ -109,6 +109,14 @@ class RTPS_DllAPI Subscriber
             void* sample,
             SampleInfo_t* info);
 
+    /**
+     * @brief Returns information about the first untaken sample.
+     * @param [out] info Pointer to a SampleInfo_t structure to store first untaken sample information.
+     * @return true if sample info was returned. false if there is no sample to take.
+     */
+    bool get_first_untaken_info(
+            SampleInfo_t* info);
+
     /**
      * Update the Attributes of the subscriber;
      * @param att Reference to a SubscriberAttributes object to update the parameters;
diff --git a/include/fastrtps/subscriber/SubscriberHistory.h b/include/fastrtps/subscriber/SubscriberHistory.h
index d8a6d8ce879..1905d555bf3 100644
--- a/include/fastrtps/subscriber/SubscriberHistory.h
+++ b/include/fastrtps/subscriber/SubscriberHistory.h
@@ -91,6 +91,14 @@ class SubscriberHistory : public rtps::ReaderHistory
             std::chrono::steady_clock::time_point& max_blocking_time);
     ///@}
 
+    /**
+     * @brief Returns information about the first untaken sample.
+     * @param [out] info Pointer to a SampleInfo_t structure to store first untaken sample information.
+     * @return true if sample info was returned. false if there is no sample to take.
+     */
+    bool get_first_untaken_info(
+            SampleInfo_t* info);
+
     /**
      * This method is called to remove a change from the SubscriberHistory.
      * @param change Pointer to the CacheChange_t.
diff --git a/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp b/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
index f2c258d64c4..81ddb81c5c5 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/Subscriber.cpp
@@ -50,6 +50,12 @@ bool Subscriber::takeNextData(
     return mp_impl->takeNextData(data, info);
 }
 
+bool Subscriber::get_first_untaken_info(
+        SampleInfo_t* info)
+{
+    return mp_impl->get_first_untaken_info(info);
+}
+
 bool Subscriber::updateAttributes(
         const SubscriberAttributes& att)
 {
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
index 2cd2d761e1f..64491c04b53 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
@@ -35,6 +35,20 @@ using namespace rtps;
 
 using eprosima::fastdds::dds::TopicDataType;
 
+static void get_sample_info(
+        SampleInfo_t* info,
+        CacheChange_t* change,
+        uint32_t ownership_strength)
+{
+    info->sampleKind = change->kind;
+    info->sample_identity.writer_guid(change->writerGUID);
+    info->sample_identity.sequence_number(change->sequenceNumber);
+    info->sourceTimestamp = change->sourceTimestamp;
+    info->ownershipStrength = ownership_strength;
+    info->iHandle = change->instanceHandle;
+    info->related_sample_identity = change->write_params.sample_identity();
+}
+
 SubscriberHistory::SubscriberHistory(
         const TopicAttributes& topic_att,
         TopicDataType* type,
@@ -298,14 +312,9 @@ bool SubscriberHistory::deserialize_change(
 
     if (info != nullptr)
     {
-        info->sampleKind = change->kind;
-        info->sample_identity.writer_guid(change->writerGUID);
-        info->sample_identity.sequence_number(change->sequenceNumber);
-        info->sourceTimestamp = change->sourceTimestamp;
-        info->ownershipStrength = ownership_strength;
         if (topic_att_.topicKind == WITH_KEY &&
-                change->instanceHandle == c_InstanceHandle_Unknown &&
-                change->kind == ALIVE)
+            change->instanceHandle == c_InstanceHandle_Unknown &&
+            change->kind == ALIVE)
         {
             bool is_key_protected = false;
 #if HAVE_SECURITY
@@ -313,8 +322,8 @@ bool SubscriberHistory::deserialize_change(
 #endif
             type_->getKey(data, &change->instanceHandle, is_key_protected);
         }
-        info->iHandle = change->instanceHandle;
-        info->related_sample_identity = change->write_params.sample_identity();
+
+        get_sample_info(info, change, ownership_strength);
     }
 
     return true;
@@ -380,6 +389,23 @@ bool SubscriberHistory::takeNextData(
     return false;
 }
 
+bool SubscriberHistory::get_first_untaken_info(
+        SampleInfo_t* info)
+{
+    std::lock_guard<RecursiveTimedMutex> lock(*mp_mutex);
+
+    CacheChange_t* change = nullptr;
+    WriterProxy* wp = nullptr;
+    if (mp_reader->nextUntakenCache(&change, &wp))
+    {
+        uint32_t ownership = wp && qos_.m_ownership.kind == EXCLUSIVE_OWNERSHIP_QOS ? wp->ownership_strength() : 0;
+        get_sample_info(info, change, ownership);
+        return true;
+    }
+
+    return false;
+}
+
 bool SubscriberHistory::find_key(
         CacheChange_t* a_change,
         t_m_Inst_Caches::iterator* vit_out)
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
index 558c070a241..243c280bc36 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.cpp
@@ -124,6 +124,12 @@ bool SubscriberImpl::takeNextData(
     return this->m_history.takeNextData(data, info, max_blocking_time);
 }
 
+bool SubscriberImpl::get_first_untaken_info(
+        SampleInfo_t* info)
+{
+    return m_history.get_first_untaken_info(info);
+}
+
 const GUID_t& SubscriberImpl::getGuid()
 {
     return mp_reader->getGuid();
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
index 29dbdeed609..989b93a6294 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberImpl.h
@@ -92,6 +92,14 @@ class SubscriberImpl
 
     ///@}
 
+    /**
+     * @brief Returns information about the first untaken sample.
+     * @param [out] info Pointer to a SampleInfo_t structure to store first untaken sample information.
+     * @return true if sample info was returned. false if there is no sample to take.
+     */
+    bool get_first_untaken_info(
+            SampleInfo_t* info);
+
     /**
      * Update the Attributes of the subscriber;
      * @param att Reference to a SubscriberAttributes object to update the parameters;

From 0a5970c48d45b3c7e8a6a7cf79d6f390ea4e2fbe Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Wed, 25 Mar 2020 13:07:01 +0100
Subject: [PATCH 3/4] Refs #7918. receptionTimestamp added to CacheChange_t.

---
 include/fastdds/rtps/common/CacheChange.h | 2 ++
 src/cpp/rtps/reader/StatefulReader.cpp    | 2 ++
 src/cpp/rtps/reader/StatelessReader.cpp   | 1 +
 3 files changed, 5 insertions(+)

diff --git a/include/fastdds/rtps/common/CacheChange.h b/include/fastdds/rtps/common/CacheChange.h
index 44e9cac627a..1399ac45cd5 100644
--- a/include/fastdds/rtps/common/CacheChange.h
+++ b/include/fastdds/rtps/common/CacheChange.h
@@ -64,6 +64,8 @@ struct RTPS_DllAPI CacheChange_t
     bool isRead = false;
     //!Source TimeStamp (only used in Readers)
     Time_t sourceTimestamp;
+    //!Reception TimeStamp (only used in Readers)
+    Time_t receptionTimestamp;
 
     WriteParams write_params;
     bool is_untyped_ = true;
diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index cdf69ec2118..9baf91a6daf 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -715,6 +715,7 @@ bool StatefulReader::change_received(
                 {
                     if (mp_history->received_change(a_change, 0))
                     {
+                        Time_t::now(a_change->receptionTimestamp);
                         update_last_notified(a_change->writerGUID, a_change->sequenceNumber);
                         if (getListener() != nullptr)
                         {
@@ -737,6 +738,7 @@ bool StatefulReader::change_received(
     // inside the call to mp_history->received_change
     if (mp_history->received_change(a_change, unknown_missing_changes_up_to))
     {
+        Time_t::now(a_change->receptionTimestamp);
         GUID_t proxGUID = prox->guid();
 
         // If KEEP_LAST and history full, make older changes as lost.
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index e86e810e020..7cb6745d8fc 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -160,6 +160,7 @@ bool StatelessReader::change_received(
     {
         if (mp_history->received_change(change, 0))
         {
+            Time_t::now(change->receptionTimestamp);
             update_last_notified(change->writerGUID, change->sequenceNumber);
             ++total_unread_;
 

From 6d590e7ff2719f6b9a54f091c0695994f7352475 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Wed, 25 Mar 2020 13:11:53 +0100
Subject: [PATCH 4/4] Refs #7918. receptionTimestamp added to SampleInfo_t.

---
 include/fastrtps/subscriber/SampleInfo.h      | 22 ++++++++++++++-----
 .../subscriber/SubscriberHistory.cpp          |  1 +
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/include/fastrtps/subscriber/SampleInfo.h b/include/fastrtps/subscriber/SampleInfo.h
index 6416a2c190b..2609f5e3b13 100644
--- a/include/fastrtps/subscriber/SampleInfo.h
+++ b/include/fastrtps/subscriber/SampleInfo.h
@@ -34,18 +34,30 @@ namespace fastrtps {
  * Class SampleInfo_t with information that is provided along a sample when reading data from a Subscriber.
  * @ingroup FASTRTPS_MODULE
  */
-class RTPS_DllAPI SampleInfo_t {
+class RTPS_DllAPI SampleInfo_t
+{
 public:
-    SampleInfo_t():sampleKind(rtps::ALIVE), ownershipStrength(0),
-    sample_identity(rtps::SampleIdentity::unknown()), related_sample_identity(rtps::SampleIdentity::unknown()) {}
 
-    virtual ~SampleInfo_t(){};
+    SampleInfo_t()
+        : sampleKind(rtps::ALIVE)
+        , ownershipStrength(0)
+        , sample_identity(rtps::SampleIdentity::unknown())
+        , related_sample_identity(rtps::SampleIdentity::unknown())
+    {
+    }
+
+    virtual ~SampleInfo_t()
+    {
+    }
+
     //!Sample kind.
     rtps::ChangeKind_t sampleKind;
     //!Ownership Strength of the writer of the sample (0 if the ownership kind is set to SHARED_OWNERSHIP_QOS).
     uint32_t ownershipStrength;
     //!Source timestamp of the sample.
     rtps::Time_t sourceTimestamp;
+    //!Reception timestamp of the sample.
+    rtps::Time_t receptionTimestamp;
     //!InstanceHandle of the data
     rtps::InstanceHandle_t iHandle;
 
@@ -54,7 +66,7 @@ class RTPS_DllAPI SampleInfo_t {
     rtps::SampleIdentity related_sample_identity;
 };
 
-} /* namespace  */
+} /* namespace fastrtps */
 } /* namespace eprosima */
 
 #endif /* SAMPLEINFO_H_ */
diff --git a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
index 64491c04b53..a6559d24c7a 100644
--- a/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
+++ b/src/cpp/fastrtps_deprecated/subscriber/SubscriberHistory.cpp
@@ -44,6 +44,7 @@ static void get_sample_info(
     info->sample_identity.writer_guid(change->writerGUID);
     info->sample_identity.sequence_number(change->sequenceNumber);
     info->sourceTimestamp = change->sourceTimestamp;
+    info->receptionTimestamp = change->receptionTimestamp;
     info->ownershipStrength = ownership_strength;
     info->iHandle = change->instanceHandle;
     info->related_sample_identity = change->write_params.sample_identity();