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Add support to message lost event #192

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Merged
merged 3 commits into from
Jun 17, 2020
Merged

Add support to message lost event #192

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095c03c
Add support to message lost event
ivanpauno Jun 5, 2020
30909a4
Don't mix sample rejected with sample lost status
ivanpauno Jun 10, 2020
13083c6
Update rmw_cyclonedds_cpp/src/rmw_node.cpp
ivanpauno Jun 10, 2020
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15 changes: 15 additions & 0 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2458,6 +2458,7 @@ static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS},
{RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, DDS_OFFERED_INCOMPATIBLE_QOS_STATUS},
{RMW_EVENT_MESSAGE_LOST, DDS_SAMPLE_LOST_STATUS},
};

static bool is_event_supported(const rmw_event_type_t event_t)
Expand Down Expand Up @@ -2566,6 +2567,20 @@ extern "C" rmw_ret_t rmw_take_event(
}
}

case RMW_EVENT_MESSAGE_LOST: {
auto ei = static_cast<rmw_message_lost_status_t *>(event_info);
auto sub = static_cast<CddsSubscription *>(event_handle->data);
dds_sample_lost_status_t st;
if (dds_get_sample_lost_status(sub->enth, &st) < 0) {
*taken = false;
return RMW_RET_ERROR;
}
ei->total_count = static_cast<size_t>(st.total_count);
ei->total_count_change = static_cast<size_t>(st.total_count_change);
*taken = true;
return RMW_RET_OK;
}

case RMW_EVENT_LIVELINESS_LOST: {
auto ei = static_cast<rmw_liveliness_lost_status_t *>(event_info);
auto pub = static_cast<CddsPublisher *>(event_handle->data);
Expand Down