Fix sertopic referencing
Use the function dds_create_topic_generic for creating topic, so that the sertopic that is actually used is referenced in the publisher. Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
This commit is contained in:
Dennis Potman
eboasson
parent
49d4a51abf
commit
6162be51f9
1 changed files with 73 additions and 29 deletions
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@ -165,7 +165,6 @@ struct CddsPublisher : CddsEntity
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struct CddsSubscription : CddsEntity
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{
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dds_entity_t rdcondh;
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struct ddsi_sertopic * sertopic;
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};
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struct CddsCS
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@ -1263,10 +1262,20 @@ static CddsPublisher * create_cdds_publisher(
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fqtopic_name.c_str(), type_support->typesupport_identifier,
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create_message_type_support(type_support->data, type_support->typesupport_identifier), false,
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rmw_cyclonedds_cpp::make_message_value_type(type_supports));
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if ((topic =
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dds_create_topic_arbitrary(node_impl->enth, sertopic, nullptr, nullptr, nullptr)) < 0)
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{
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auto ddsi_st = static_cast<struct ddsi_sertopic *>(sertopic);
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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topic = dds_create_topic_generic(node_impl->enth, &ddsi_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, the RMW layer
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(incorrectly) retains a counted reference */
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topic = dds_create_topic_arbitrary(node_impl->enth, ddsi_st, nullptr, nullptr, nullptr);
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#endif
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if (topic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_st);
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goto fail_topic;
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}
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if ((qos = create_readwrite_qos(qos_policies, false)) == nullptr) {
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@ -1280,7 +1289,7 @@ static CddsPublisher * create_cdds_publisher(
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RMW_SET_ERROR_MSG("failed to get instance handle for writer");
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goto fail_instance_handle;
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}
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pub->sertopic = sertopic;
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pub->sertopic = ddsi_st;
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dds_delete_qos(qos);
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dds_delete(topic);
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return pub;
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@ -1293,6 +1302,9 @@ fail_writer:
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dds_delete_qos(qos);
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fail_qos:
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dds_delete(topic);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(ddsi_st);
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#endif
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fail_topic:
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delete pub;
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return nullptr;
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@ -1448,7 +1460,9 @@ extern "C" rmw_ret_t rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t *
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if (dds_delete(pub->enth) < 0) {
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RMW_SET_ERROR_MSG("failed to delete writer");
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}
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(pub->sertopic);
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#endif
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delete pub;
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}
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rmw_free(const_cast<char *>(publisher->topic_name));
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@ -1485,10 +1499,23 @@ static CddsSubscription * create_cdds_subscription(
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fqtopic_name.c_str(), type_support->typesupport_identifier,
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create_message_type_support(type_support->data, type_support->typesupport_identifier), false,
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rmw_cyclonedds_cpp::make_message_value_type(type_supports));
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if ((topic =
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dds_create_topic_arbitrary(node_impl->enth, sertopic, nullptr, nullptr, nullptr)) < 0)
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{
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auto ddsi_st = static_cast<struct ddsi_sertopic *>(sertopic);
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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topic = dds_create_topic_generic(node_impl->enth, &ddsi_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, we don't
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need it in the RMW layer */
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topic = dds_create_topic_arbitrary(node_impl->enth, ddsi_st, nullptr, nullptr, nullptr);
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if (topic > 0) {
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ddsi_sertopic_unref(ddsi_st);
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}
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#endif
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if (topic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_st);
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goto fail_topic;
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}
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if ((qos = create_readwrite_qos(qos_policies, ignore_local_publications)) == nullptr) {
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@ -1502,7 +1529,6 @@ static CddsSubscription * create_cdds_subscription(
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RMW_SET_ERROR_MSG("failed to create readcondition");
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goto fail_readcond;
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}
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sub->sertopic = sertopic;
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dds_delete_qos(qos);
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dds_delete(topic);
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return sub;
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@ -1633,7 +1659,6 @@ extern "C" rmw_ret_t rmw_destroy_subscription(rmw_node_t * node, rmw_subscriptio
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if (dds_delete(sub->enth) < 0) {
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RMW_SET_ERROR_MSG("failed to delete reader");
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}
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ddsi_sertopic_unref(sub->sertopic);
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delete sub;
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}
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rmw_free(const_cast<char *>(subscription->topic_name));
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@ -1666,9 +1691,7 @@ static rmw_ret_t rmw_take_int(
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dds_time_t tnow = dds_time();
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dds_time_t dt = tnow - info.source_timestamp;
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if (dt >= DDS_MSECS(REPORT_LATE_MESSAGES)) {
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fprintf(
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stderr, "** %s sample in history for %.fms\n", sub->sertopic->name,
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static_cast<double>(dt) / 1e6);
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fprintf(stderr, "** sample in history for %.fms\n", static_cast<double>(dt) / 1e6);
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}
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#endif
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*taken = true;
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@ -2368,9 +2391,8 @@ extern "C" rmw_ret_t rmw_take_response(
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dds_time_t dtreq = tnow - info->reqtime[seq];
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if (dtreq > DDS_MSECS(REPORT_LATE_MESSAGES) || dtresp > DDS_MSECS(REPORT_LATE_MESSAGES)) {
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fprintf(
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stderr, "** %s response time %.fms; response in history for %.fms\n",
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info->client.sub->sertopic->name, static_cast<double>(dtreq) / 1e6,
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static_cast<double>(dtresp) / 1e6);
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stderr, "** response time %.fms; response in history for %.fms\n",
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static_cast<double>(dtreq) / 1e6, static_cast<double>(dtresp) / 1e6);
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}
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info->reqtime.erase(seq);
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}
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@ -2388,9 +2410,7 @@ static void check_for_blocked_requests(CddsClient & client)
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for (auto const & r : client.reqtime) {
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dds_time_t dt = tnow - r.second;
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if (dt > DDS_SECS(1)) {
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fprintf(
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stderr, "** %s already waiting for %.fms\n", client.client.sub->sertopic->name,
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static_cast<double>(dt) / 1e6);
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fprintf(stderr, "** already waiting for %.fms\n", static_cast<double>(dt) / 1e6);
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}
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}
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}
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@ -2536,23 +2556,44 @@ static rmw_ret_t rmw_init_cs(
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auto pub_st = create_sertopic(
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pubtopic_name.c_str(), type_support->typesupport_identifier, pub_type_support, true,
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std::move(pub_msg_ts));
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auto ddsi_pub_st = static_cast<struct ddsi_sertopic *>(pub_st);
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auto sub_st = create_sertopic(
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subtopic_name.c_str(), type_support->typesupport_identifier, sub_type_support, true,
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std::move(sub_msg_ts));
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auto ddsi_sub_st = static_cast<struct ddsi_sertopic *>(sub_st);
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dds_qos_t * qos;
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if ((pubtopic =
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dds_create_topic_arbitrary(node_impl->enth, pub_st, nullptr, nullptr, nullptr)) < 0)
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{
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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pubtopic = dds_create_topic_generic(node_impl->enth, &ddsi_pub_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, the RMW layer
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(incorrectly) retains a counted reference */
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pubtopic = dds_create_topic_arbitrary(node_impl->enth, ddsi_pub_st, nullptr, nullptr, nullptr);
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#endif
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if (pubtopic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_pub_st);
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goto fail_pubtopic;
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}
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if ((subtopic =
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dds_create_topic_arbitrary(node_impl->enth, sub_st, nullptr, nullptr, nullptr)) < 0)
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{
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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subtopic = dds_create_topic_generic(node_impl->enth, &ddsi_sub_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, we don't
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need it in the RMW layer */
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subtopic = dds_create_topic_arbitrary(node_impl->enth, ddsi_sub_st, nullptr, nullptr, nullptr);
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if (subtopic > 0) {
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ddsi_sertopic_unref(ddsi_sub_st);
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}
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#endif
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if (subtopic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_sub_st);
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goto fail_subtopic;
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}
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dds_qos_t * qos;
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if ((qos = dds_create_qos()) == nullptr) {
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goto fail_qos;
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}
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@ -2562,12 +2603,11 @@ static rmw_ret_t rmw_init_cs(
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RMW_SET_ERROR_MSG("failed to create writer");
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goto fail_writer;
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}
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pub->sertopic = pub_st;
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pub->sertopic = ddsi_pub_st;
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if ((sub->enth = dds_create_reader(node_impl->sub, subtopic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG("failed to create reader");
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goto fail_reader;
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}
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sub->sertopic = sub_st;
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if ((sub->rdcondh = dds_create_readcondition(sub->enth, DDS_ANY_STATE)) < 0) {
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RMW_SET_ERROR_MSG("failed to create readcondition");
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goto fail_readcond;
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@ -2596,14 +2636,18 @@ fail_qos:
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dds_delete(subtopic);
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fail_subtopic:
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dds_delete(pubtopic);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(ddsi_pub_st);
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#endif
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fail_pubtopic:
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return RMW_RET_ERROR;
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}
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static void rmw_fini_cs(CddsCS * cs)
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{
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ddsi_sertopic_unref(cs->sub->sertopic);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(cs->pub->sertopic);
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#endif
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dds_delete(cs->sub->rdcondh);
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dds_delete(cs->sub->enth);
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dds_delete(cs->pub->enth);
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