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microdds_client: add _subs reset method to allow reconnections

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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan
2023-01-16 21:43:49 -05:00
committed by Daniel Agar
parent 00bfd5436a
commit 2a64145dcd
2 changed files with 9 additions and 0 deletions
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src/modules/microdds_client/dds_topics.h.em
+8
View File
@@ -37,6 +37,14 @@ struct SendTopicsSubs {
uint32_t num_payload_sent{}; uint32_t num_payload_sent{};
void update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace); void update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace);
void reset();
};
void SendTopicsSubs::reset() {
num_payload_sent = 0;
@[ for idx, pub in enumerate(publications)]@
@(pub['topic_simple'])_data_writer = uxr_object_id(0, UXR_INVALID_ID);
@[ end for]@
}; };
void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace) void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace)
src/modules/microdds_client/microdds_client.cpp
+1
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@@ -371,6 +371,7 @@ void MicroddsClient::run()
uxr_delete_session_retries(&session, _connected ? 1 : 0); uxr_delete_session_retries(&session, _connected ? 1 : 0);
_last_payload_tx_rate = 0; _last_payload_tx_rate = 0;
_last_payload_tx_rate = 0; _last_payload_tx_rate = 0;
_subs->reset();
} }
} }