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fix: move history_memory_policy outside leave_middleware_default_qos guard #896

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fix: move history_memory_policy outside leave_middleware_default_qos guard #896

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6 changes: 3 additions & 3 deletions rmw_fastrtps_cpp/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -242,16 +242,16 @@ rmw_fastrtps_cpp::create_publisher(
publisher->get_datawriter_qos_from_profile(topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
12 changes: 6 additions & 6 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,10 +312,10 @@ rmw_create_client(
subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
subscriber->get_datareader_qos_from_profile(response_topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down Expand Up @@ -374,16 +374,16 @@ rmw_create_client(
publisher->get_datawriter_qos_from_profile(request_topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
12 changes: 6 additions & 6 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -308,10 +308,10 @@ rmw_create_service(
subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
subscriber->get_datareader_qos_from_profile(request_topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down Expand Up @@ -374,16 +374,16 @@ rmw_create_service(
publisher->get_datawriter_qos_from_profile(response_topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
12 changes: 6 additions & 6 deletions rmw_fastrtps_cpp/src/subscription.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -416,10 +416,10 @@ __create_dynamic_subscription(
// the QoS is already the default
subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down Expand Up @@ -688,10 +688,10 @@ __create_subscription(
// the QoS is already the default
subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down
6 changes: 3 additions & 3 deletions rmw_fastrtps_dynamic_cpp/src/publisher.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -249,16 +249,16 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
publisher->get_datawriter_qos_from_profile(topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
12 changes: 6 additions & 6 deletions rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -341,10 +341,10 @@ rmw_create_client(
subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
subscriber->get_datareader_qos_from_profile(response_topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down Expand Up @@ -403,16 +403,16 @@ rmw_create_client(
publisher->get_datawriter_qos_from_profile(request_topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
12 changes: 6 additions & 6 deletions rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -337,10 +337,10 @@ rmw_create_service(
subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
subscriber->get_datareader_qos_from_profile(request_topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down Expand Up @@ -403,16 +403,16 @@ rmw_create_service(
publisher->get_datawriter_qos_from_profile(response_topic_name, writer_qos);

// Modify specific DataWriter Qos
writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
} else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
}

writer_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

writer_qos.data_sharing().off();
}

Expand Down
6 changes: 3 additions & 3 deletions rmw_fastrtps_dynamic_cpp/src/subscription.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -257,10 +257,10 @@ create_subscription(
// the QoS is already the default
subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);

if (!participant_info->leave_middleware_default_qos) {
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
reader_qos.endpoint().history_memory_policy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

if (!participant_info->leave_middleware_default_qos) {
reader_qos.data_sharing().off();
}

Expand Down
10 changes: 4 additions & 6 deletions rmw_fastrtps_shared_cpp/src/participant.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -329,12 +329,10 @@ rmw_fastrtps_shared_cpp::create_participant(
}
}
// allow reallocation to support discovery messages bigger than 5000 bytes
if (!leave_middleware_default_qos) {
domainParticipantQos.wire_protocol().builtin.readerHistoryMemoryPolicy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
domainParticipantQos.wire_protocol().builtin.writerHistoryMemoryPolicy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
}
domainParticipantQos.wire_protocol().builtin.readerHistoryMemoryPolicy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
domainParticipantQos.wire_protocol().builtin.writerHistoryMemoryPolicy =
eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
if (security_options->security_root_path) {
// if security_root_path provided, try to find the key and certificate files
#if HAVE_SECURITY
Expand Down