Refs 12400. Using DDS SampleInfo.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
eProsima · Sep 6, 2021 · a6cac0b · a6cac0b
1 parent 1b1486a
commit a6cac0b
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Showing 3 changed files with 37 additions and 54 deletions.
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)
@@ -677,10 +643,8 @@ 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/history/DataReaderHistory.cpp b/src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
@@ -38,21 +38,40 @@ using namespace eprosima::fastrtps::rtps;
 
 using eprosima::fastrtps::KeyedChanges;
 using eprosima::fastrtps::RecursiveTimedMutex;
-using eprosima::fastrtps::SampleInfo_t;
 
 static void get_sample_info(
-        SampleInfo_t* info,
-        CacheChange_t* change,
-        uint32_t ownership_strength)
+        SampleInfo& info,
+        CacheChange_t* change)
 {
-    info->sampleKind = change->kind;
-    info->sample_identity.writer_guid(change->writerGUID);
-    info->sample_identity.sequence_number(change->sequenceNumber);
-    info->sourceTimestamp = change->sourceTimestamp;
-    info->receptionTimestamp = change->reader_info.receptionTimestamp;
-    info->ownershipStrength = ownership_strength;
-    info->iHandle = change->instanceHandle;
-    info->related_sample_identity = change->write_params.sample_identity();
+    info.sample_state = NOT_READ_SAMPLE_STATE;
+    info.view_state = NOT_NEW_VIEW_STATE;
+    info.disposed_generation_count = 0;
+    info.no_writers_generation_count = 1;
+    info.sample_rank = 0;
+    info.generation_rank = 0;
+    info.absoulte_generation_rank = 0;
+    info.source_timestamp = change->sourceTimestamp;
+    info.reception_timestamp = change->reader_info.receptionTimestamp;
+    info.instance_handle = change->instanceHandle;
+    info.publication_handle = fastrtps::rtps::InstanceHandle_t(change->writerGUID);
+    info.sample_identity.writer_guid(change->writerGUID);
+    info.sample_identity.sequence_number(change->sequenceNumber);
+    info.related_sample_identity = change->write_params.sample_identity();
+    info.valid_data = change->kind == eprosima::fastrtps::rtps::ALIVE;
+
+    switch (change->kind)
+    {
+    case eprosima::fastrtps::rtps::ALIVE:
+        info.instance_state = ALIVE_INSTANCE_STATE;
+        break;
+    case eprosima::fastrtps::rtps::NOT_ALIVE_DISPOSED:
+        info.instance_state = NOT_ALIVE_DISPOSED_INSTANCE_STATE;
+        break;
+    default:
+        //TODO [ILG] change this if the other kinds ever get implemented
+        info.instance_state = ALIVE_INSTANCE_STATE;
+        break;
+    }
 }
 
 static HistoryAttributes to_history_attributes(
@@ -329,15 +348,15 @@ bool DataReaderHistory::find_key_for_change(
 }
 
 bool DataReaderHistory::get_first_untaken_info(
-        SampleInfo_t* info)
+        SampleInfo& info)
 {
     std::lock_guard<RecursiveTimedMutex> lock(*mp_mutex);
 
     CacheChange_t* change = nullptr;
     WriterProxy* wp = nullptr;
     if (mp_reader->nextUntakenCache(&change, &wp))
     {
-        get_sample_info(info, change, 0);
+        get_sample_info(info, change);
         mp_reader->change_read_by_user(change, wp, false);
         return true;
     }

diff --git a/src/cpp/fastdds/subscriber/history/DataReaderHistory.hpp b/src/cpp/fastdds/subscriber/history/DataReaderHistory.hpp
@@ -27,6 +27,7 @@
 
 #include <fastdds/dds/core/policy/QosPolicies.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
+#include <fastdds/dds/subscriber/SampleInfo.hpp>
 
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastdds/dds/topic/TopicDescription.hpp>
@@ -38,7 +39,6 @@
 #include <fastdds/rtps/resources/ResourceManagement.h>
 
 #include <fastrtps/common/KeyedChanges.h>
-#include <fastrtps/subscriber/SampleInfo.h>
 #include <fastrtps/utils/fixed_size_string.hpp>
 
 namespace eprosima {
@@ -98,11 +98,11 @@ class DataReaderHistory : public eprosima::fastrtps::rtps::ReaderHistory
 
     /**
      * @brief Returns information about the first untaken sample.
-     * @param [out] info Pointer to a SampleInfo_t structure to store first untaken sample information.
+     * @param [out] info SampleInfo 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(
-            fastrtps::SampleInfo_t* info);
+            SampleInfo& info);
 
     /**
      * This method is called to remove a change from the SubscriberHistory.