Raising Inconsistent Topic from CyloneDDS

[allenh1]

Hi!

I'm interested in enabling cyclone to support inconsistent topic events, especially those relevant to ros2/rmw_cyclonedds#431.

I found this segment blocked out in the code, and am curious why it is blocked out?

cyclonedds/src/core/ddsc/src/dds_topic.c

Lines 132 to 162 in 38aeacd

	/*
	Topic status change callback handler. Supports INCONSISTENT_TOPIC
	status (only defined status on a topic). Irrelevant until inconsistent topic
	definitions can be detected, so until topic discovery is added.
	*/
	#if 0
	static void dds_topic_status_cb (struct dds_topic *tp)
	{
	struct dds_listener const * const lst = &tp->m_entity.m_listener;
	ddsrt_mutex_lock (&tp->m_entity.m_observers_lock);
	while (tp->m_entity.m_cb_count > 0)
	ddsrt_cond_wait (&tp->m_entity.m_observers_cond, &tp->m_entity.m_observers_lock);
	tp->m_entity.m_cb_count++;
	tp->m_inconsistent_topic_status.total_count++;
	tp->m_inconsistent_topic_status.total_count_change++;
	if (lst->on_inconsistent_topic)
	{
	ddsrt_mutex_unlock (&tp->m_entity.m_observers_lock);
	dds_entity_invoke_listener (&tp->m_entity, DDS_INCONSISTENT_TOPIC_STATUS_ID, &tp->m_inconsistent_topic_status);
	ddsrt_mutex_lock (&tp->m_entity.m_observers_lock);
	tp->m_inconsistent_topic_status.total_count_change = 0;
	}
	dds_entity_status_set (&tp->m_entity, DDS_INCONSISTENT_TOPIC_STATUS);
	tp->m_entity.m_cb_count--;
	ddsrt_cond_broadcast (&tp->m_entity.m_observers_cond);
	ddsrt_mutex_unlock (&tp->m_entity.m_observers_lock);
	}
	#endif

@eboasson commented that this is a bug here.

What specifically would need to be done to get this behavior working?

[poetinger]

Hello Allen! A Wallingford-ian checking in. We have not forgotten about this question, and I will get back to you soon (quite busy at the moment). I think I have an answer for you, but I need to do a bit of digging and check with the team to make sure I do not answer with any misleading or incorrect information. Thank you for your patience, and sorry for the delay!