Take all available samples on service/client on_data_available. (back…

…port #616) (#623) * Take all available samples on service/client on_data_available. (#616) Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> (cherry picked from commit e9abdc4) # Conflicts: # rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp # rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp * resolve merge conflicts. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Miguel Company <miguelcompany@eprosima.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
ros2 · May 17, 2023 · 3c2c5b3 · 3c2c5b3
1 parent 069262f
commit 3c2c5b3
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -85,7 +85,7 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
     data.is_cdr_buffer = true;
     data.data = response.buffer_.get();
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (sub->takeNextData(&data, &response.sample_info_)) {
+    while (sub->takeNextData(&data, &response.sample_info_)) {
       if (eprosima::fastrtps::rtps::ALIVE == response.sample_info_.sampleKind) {
         response.sample_identity_ = response.sample_info_.related_sample_identity;
 

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -248,7 +248,7 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
     data.is_cdr_buffer = true;
     data.data = request.buffer_;
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (sub->takeNextData(&data, &request.sample_info_)) {
+    while (sub->takeNextData(&data, &request.sample_info_)) {
       if (eprosima::fastrtps::rtps::ALIVE == request.sample_info_.sampleKind) {
         request.sample_identity_ = request.sample_info_.sample_identity;
         // Use response subscriber guid (on related_sample_identity) when present.