Use get_subscription_matched_status on rmw_subscription.

Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 7, 2022 · 9d55fd7 · 9d55fd7
1 parent c8eb812
commit 9d55fd7
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Showing 2 changed files with 4 additions and 19 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -26,7 +26,6 @@
 
 #include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
 #include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"
-#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
@@ -89,14 +88,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     eprosima::fastdds::dds::DataReader * reader,
     const eprosima::fastdds::dds::SubscriptionMatchedStatus & info) final
   {
-    {
-      std::lock_guard<std::mutex> lock(internalMutex_);
-      if (info.current_count_change == 1) {
-        publishers_.insert(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
-      } else if (info.current_count_change == -1) {
-        publishers_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
-      }
-    }
     update_has_data(reader);
   }
 
@@ -188,12 +179,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     data_.store(has_data, std::memory_order_relaxed);
   }
 
-  size_t publisherCount()
-  {
-    std::lock_guard<std::mutex> lock(internalMutex_);
-    return publishers_.size();
-  }
-
   // Provide handlers to perform an action when a
   // new event from this listener has ocurred
   void
@@ -242,8 +227,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
   std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
-
   rmw_event_callback_t on_new_message_cb_{nullptr};
   std::mutex on_new_message_m_;
   size_t qos_depth_;

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -20,6 +20,7 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
+#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 
@@ -87,8 +88,9 @@ __rmw_subscription_count_matched_publishers(
   size_t * publisher_count)
 {
   auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
-
-  *publisher_count = info->listener_->publisherCount();
+  eprosima::fastdds::dds::SubscriptionMatchedStatus status{};
+  info->data_reader_->get_subscription_matched_status(status);
+  *publisher_count = status.current_count;
 
   return RMW_RET_OK;
 }