niklas/rmw_cyclonedds
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Don't retain all data in builtin-topics readers

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The built-in topics readers in the RMW node are currently not used for
anything other than triggering the guard condition.  All the query
functions just get their own data set from Cyclone.  Taking all samples
instead of just the not-alive ones reduces memory usage.

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-06-21 16:21:13 +02:00 • committed by eboasson
parent 572d272ebf
commit 3a4b10421d
1 changed files with 1 additions and 1 deletions
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rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -300,7 +300,7 @@ static void ggcallback (dds_entity_t rd, void *varg)
auto node_impl = static_cast<CddsNode *> (varg); auto node_impl = static_cast<CddsNode *> (varg);
void *msg = 0; void *msg = 0;
dds_sample_info_t info; dds_sample_info_t info;
while (dds_take_mask (rd, &msg, &info, 1, 1, DDS_ANY_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE | DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE) > 0) { while (dds_take (rd, &msg, &info, 1, 1) > 0) {
dds_return_loan (rd, &msg, 1); dds_return_loan (rd, &msg, 1);
} }
if (rmw_trigger_guard_condition (node_impl->graph_guard_condition) != RMW_RET_OK) { if (rmw_trigger_guard_condition (node_impl->graph_guard_condition) != RMW_RET_OK) {