Refactor DataReaderImpl to use a new DataReaderHistory class (#2177)

* Refs 12400. Duplicating SubscriberHistory into DataReaderHistory. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 12400. Using DataReaderHistory on DataReaderImpl. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 12400. Avoid using TopicAttributes. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 12400. Additional cleanup. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 12400. Using DDS SampleInfo. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 12404. Uncrustify. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
eProsima · Dec 20, 2021 · 4ca60d5 · 4ca60d5
1 parent 953afb9
commit 4ca60d5
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Showing 8 changed files with 885 additions and 46 deletions.
diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
@@ -86,6 +86,7 @@ set(${PROJECT_NAME}_source_files
     fastrtps_deprecated/subscriber/SubscriberImpl.cpp
     fastrtps_deprecated/subscriber/SubscriberHistory.cpp
     fastdds/subscriber/DataReader.cpp
+    fastdds/subscriber/history/DataReaderHistory.cpp
     fastdds/publisher/DataWriter.cpp
     fastdds/subscriber/DataReaderImpl.cpp
     fastdds/publisher/DataWriterImpl.cpp

diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
@@ -57,40 +57,6 @@ namespace eprosima {
 namespace fastdds {
 namespace dds {
 
-static void sample_info_to_dds (
-        const SampleInfo_t& rtps_info,
-        SampleInfo* dds_info)
-{
-    dds_info->sample_state = NOT_READ_SAMPLE_STATE;
-    dds_info->view_state = NOT_NEW_VIEW_STATE;
-    dds_info->disposed_generation_count = 0;
-    dds_info->no_writers_generation_count = 1;
-    dds_info->sample_rank = 0;
-    dds_info->generation_rank = 0;
-    dds_info->absoulte_generation_rank = 0;
-    dds_info->source_timestamp = rtps_info.sourceTimestamp;
-    dds_info->reception_timestamp = rtps_info.receptionTimestamp;
-    dds_info->instance_handle = rtps_info.iHandle;
-    dds_info->publication_handle = fastrtps::rtps::InstanceHandle_t(rtps_info.sample_identity.writer_guid());
-    dds_info->sample_identity = rtps_info.sample_identity;
-    dds_info->related_sample_identity = rtps_info.related_sample_identity;
-    dds_info->valid_data = rtps_info.sampleKind == eprosima::fastrtps::rtps::ALIVE ? true : false;
-
-    switch (rtps_info.sampleKind)
-    {
-        case eprosima::fastrtps::rtps::ALIVE:
-            dds_info->instance_state = ALIVE_INSTANCE_STATE;
-            break;
-        case eprosima::fastrtps::rtps::NOT_ALIVE_DISPOSED:
-            dds_info->instance_state = NOT_ALIVE_DISPOSED_INSTANCE_STATE;
-            break;
-        default:
-            //TODO [ILG] change this if the other kinds ever get implemented
-            dds_info->instance_state = ALIVE_INSTANCE_STATE;
-            break;
-    }
-}
-
 static bool collections_have_same_properties(
         const LoanableCollection& data_values,
         const SampleInfoSeq& sample_infos)
@@ -126,11 +92,7 @@ DataReaderImpl::DataReaderImpl(
     , topic_(topic)
     , qos_(&qos == &DATAREADER_QOS_DEFAULT ? subscriber_->get_default_datareader_qos() : qos)
 #pragma warning (disable : 4355 )
-    , history_(topic_attributes(),
-            type_.get(),
-            qos_.get_readerqos(subscriber_->get_qos()),
-            type_->m_typeSize + 3,    /* Possible alignment */
-            qos_.endpoint().history_memory_policy)
+    , history_(type, *topic, qos_)
     , listener_(listener)
     , reader_listener_(this)
     , deadline_duration_us_(qos_.deadline().period.to_ns() * 1e-3)
@@ -703,10 +665,8 @@ ReturnCode_t DataReaderImpl::get_first_untaken_info(
         return ReturnCode_t::RETCODE_NOT_ENABLED;
     }
 
-    SampleInfo_t rtps_info;
-    if (history_.get_first_untaken_info(&rtps_info))
+    if (history_.get_first_untaken_info(*info))
     {
-        sample_info_to_dds(rtps_info, info);
         return ReturnCode_t::RETCODE_OK;
     }
     return ReturnCode_t::RETCODE_NO_DATA;

diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl.hpp b/src/cpp/fastdds/subscriber/DataReaderImpl.hpp
@@ -36,7 +36,6 @@
 #include <fastdds/rtps/reader/ReaderListener.h>
 
 #include <fastrtps/attributes/TopicAttributes.h>
-#include <fastrtps/subscriber/SubscriberHistory.h>
 #include <fastrtps/qos/LivelinessChangedStatus.h>
 #include <fastrtps/types/TypesBase.h>
 
@@ -46,6 +45,8 @@
 #include <fastdds/subscriber/SubscriberImpl.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
 
+#include <fastdds/subscriber/history/DataReaderHistory.hpp>
+
 using eprosima::fastrtps::types::ReturnCode_t;
 
 namespace eprosima {
@@ -331,7 +332,7 @@ class DataReaderImpl
     DataReaderQos qos_;
 
     //!History
-    fastrtps::SubscriberHistory history_;
+    detail::DataReaderHistory history_;
 
     //!Listener
     DataReaderListener* listener_ = nullptr;

diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp b/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
@@ -27,14 +27,14 @@
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 
-#include <fastrtps/subscriber/SubscriberHistory.h>
 #include <fastrtps/types/TypesBase.h>
 
 #include <fastdds/subscriber/DataReaderImpl.hpp>
 #include <fastdds/subscriber/DataReaderImpl/DataReaderLoanManager.hpp>
 #include <fastdds/subscriber/DataReaderImpl/StateFilter.hpp>
 #include <fastdds/subscriber/DataReaderImpl/SampleInfoPool.hpp>
 #include <fastdds/subscriber/DataReaderImpl/SampleLoanManager.hpp>
+#include <fastdds/subscriber/history/DataReaderHistory.hpp>
 
 #include <fastdds/rtps/common/CacheChange.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
@@ -51,7 +51,7 @@ namespace detail {
 struct ReadTakeCommand
 {
     using ReturnCode_t = eprosima::fastrtps::types::ReturnCode_t;
-    using history_type = eprosima::fastrtps::SubscriberHistory;
+    using history_type = eprosima::fastdds::dds::detail::DataReaderHistory;
     using CacheChange_t = eprosima::fastrtps::rtps::CacheChange_t;
     using RTPSReader = eprosima::fastrtps::rtps::RTPSReader;
     using WriterProxy = eprosima::fastrtps::rtps::WriterProxy;