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update listener logic for accurate counting #262

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merged 1 commit into from Mar 15, 2019
Merged

update listener logic for accurate counting #262

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32 changes: 20 additions & 12 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
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Expand Up @@ -47,8 +47,8 @@ typedef struct CustomClientInfo
eprosima::fastrtps::Participant * participant_;
const char * typesupport_identifier_;
ClientPubListener * pub_listener_;
uint32_t response_subscriber_matched_count_;
uint32_t request_publisher_matched_count_;
std::atomic_uint32_t response_subscriber_matched_count_;
std::atomic_uint32_t request_publisher_matched_count_;
} CustomClientInfo;

typedef struct CustomClientResponse
Expand Down Expand Up @@ -152,15 +152,18 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
eprosima::fastrtps::Subscriber * sub,
eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
{
if (info_ == nullptr || sub == nullptr) {
(void)sub;
if (info_ == nullptr) {
return;
}

if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
info_->response_subscriber_matched_count_++;
if (eprosima::fastrtps::rtps::MATCHED_MATCHING == matchingInfo.status) {
publishers_.insert(matchingInfo.remoteEndpointGuid);
} else if (eprosima::fastrtps::rtps::REMOVED_MATCHING == matchingInfo.status) {
publishers_.erase(matchingInfo.remoteEndpointGuid);
} else {
info_->response_subscriber_matched_count_--;
return;
}
info_->response_subscriber_matched_count_.store(publishers_.size());
}

private:
Expand All @@ -170,6 +173,7 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
std::atomic_bool list_has_data_;
std::mutex * conditionMutex_;
std::condition_variable * conditionVariable_;
std::set<eprosima::fastrtps::rtps::GUID_t> publishers_;
};

class ClientPubListener : public eprosima::fastrtps::PublisherListener
Expand All @@ -184,19 +188,23 @@ class ClientPubListener : public eprosima::fastrtps::PublisherListener
eprosima::fastrtps::Publisher * pub,
eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
{
if (info_ == nullptr || pub == nullptr) {
(void) pub;
if (info_ == nullptr) {
return;
}

if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
info_->request_publisher_matched_count_++;
if (eprosima::fastrtps::rtps::MATCHED_MATCHING == matchingInfo.status) {
subscriptions_.insert(matchingInfo.remoteEndpointGuid);
} else if (eprosima::fastrtps::rtps::REMOVED_MATCHING == matchingInfo.status) {
subscriptions_.erase(matchingInfo.remoteEndpointGuid);
} else {
info_->request_publisher_matched_count_--;
return;
}
info_->request_publisher_matched_count_.store(subscriptions_.size());
}

private:
CustomClientInfo * info_;
std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_;
};

#endif // RMW_FASTRTPS_SHARED_CPP__CUSTOM_CLIENT_INFO_HPP_
4 changes: 2 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp
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Expand Up @@ -104,11 +104,11 @@ __rmw_service_server_is_available(
return RMW_RET_OK;
}

if (0 == client_info->request_publisher_matched_count_) {
if (0 == client_info->request_publisher_matched_count_.load()) {
// not ready
return RMW_RET_OK;
}
if (0 == client_info->response_subscriber_matched_count_) {
if (0 == client_info->response_subscriber_matched_count_.load()) {
// not ready
return RMW_RET_OK;
}
Expand Down