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microRTPS: make sure that Sub/Pubs do not exchange data in loop (i.e. for the same entity)

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This commit is contained in:
TSC21
2020-03-10 12:15:18 +00:00
committed by Nuno Marques
parent 441e6290eb
commit 80c658c1ae
2 changed files with 47 additions and 26 deletions
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msg/templates/urtps/Publisher.cpp.em
+17 -10
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@@ -127,17 +127,24 @@ bool @(topic)_Publisher::init()
void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, MatchingInfo& info)
{
(void)pub;
if (info.status == MATCHED_MATCHING)
{
n_matched++;
std::cout << " - @(topic) publisher matched" << std::endl;
// The first 6 values of the ID guidPrefix of an entity in a DDS-RTPS Domain
// are the same for all its subcomponents (publishers, subscribers)
std::stringstream own_endpoint, remote_endpoint;
for (size_t i = 0; i < 6; i++) {
own_endpoint << pub->getGuid().guidPrefix.value[i];
remote_endpoint << info.remoteEndpointGuid.guidPrefix.value[i];
}
else
{
n_matched--;
std::cout << " - @(topic) publisher unmatched" << std::endl;
// If the matching happens for the same entity, do not make a match
if (own_endpoint.str() != remote_endpoint.str()) {
if (info.status == MATCHED_MATCHING)
{
n_matched++;
std::cout << " - @(topic) publisher matched" << std::endl;
} else {
n_matched--;
std::cout << " - @(topic) publisher unmatched" << std::endl;
}
}
}