Fix and expose pull mode (#1891)

* Refs 10716. Fix on send_any_unsent_changes. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 10716. Always use push mode for best effort readers. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 10716. Refactor heartbeat sending. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 10716. Always push on intraprocess. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 10716. Improve synchronous delivery. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Fixed discovery tests. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Fixed RequestReplier tests. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Correctly enabling datasharing on request replier. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Added pull_mode infrastructure to blackbox tests. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Added pull_mode to PubSubBasic blackbox. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Refactor on DataWriterTests.InvalidQos. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Added pull mode inconsistencies to DataWriterTests.InvalidQos. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Added pull mode consistency checks. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Set push mode value on RTPS writer creation. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Uncrustify. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Refs 11113. Fixed PubSubBasic.PubSubAsNonReliableHelloworld. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
eProsima · Apr 13, 2021 · e0ba220 · e0ba220
1 parent d05d0cf
commit e0ba220
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Showing 13 changed files with 296 additions and 155 deletions.
diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -56,6 +56,13 @@ namespace eprosima {
 namespace fastdds {
 namespace dds {
 
+static bool qos_has_pull_mode_request(
+        const DataWriterQos& qos)
+{
+    auto push_mode = PropertyPolicyHelper::find_property(qos.properties(), "fastdds.push_mode");
+    return (nullptr != push_mode) && ("false" == *push_mode);
+}
+
 class DataWriterImpl::LoanCollection
 {
 public:
@@ -1335,6 +1342,20 @@ ReturnCode_t DataWriterImpl::check_qos(
         logError(RTPS_QOS_CHECK, "Unique network flows not supported on writers");
         return ReturnCode_t::RETCODE_UNSUPPORTED;
     }
+    bool is_pull_mode = qos_has_pull_mode_request(qos);
+    if (is_pull_mode)
+    {
+        if (BEST_EFFORT_RELIABILITY_QOS == qos.reliability().kind)
+        {
+            logError(RTPS_QOS_CHECK, "BEST_EFFORT incompatible with pull mode");
+            return ReturnCode_t::RETCODE_INCONSISTENT_POLICY;
+        }
+        if (c_TimeInfinite == qos.reliable_writer_qos().times.heartbeatPeriod)
+        {
+            logError(RTPS_QOS_CHECK, "Infinite heartbeat period incompatible with pull mode");
+            return ReturnCode_t::RETCODE_INCONSISTENT_POLICY;
+        }
+    }
     if (qos.reliability().kind == BEST_EFFORT_RELIABILITY_QOS && qos.ownership().kind == EXCLUSIVE_OWNERSHIP_QOS)
     {
         logError(RTPS_QOS_CHECK, "BEST_EFFORT incompatible with EXCLUSIVE ownership");