Revert "Add listener callbacks to newly added events"

This reverts commit 67b20ae.

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp

@@ -44,7 +44,6 @@
 
 #include "rmw/event_callback_type.h"
 
-#include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 class ClientListener;
@@ -129,7 +128,13 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
             list_has_data_.store(true);
           }
 
-          on_data_available_.call();
+          std::unique_lock<std::mutex> lock_mutex(on_new_response_m_);
+
+          if (on_new_response_cb_) {
+            on_new_response_cb_(user_data_, 1);
+          } else {
+            unread_count_++;
+          }
         }
       }
     }
@@ -193,7 +198,20 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
     const void * user_data,
     rmw_event_callback_t callback)
   {
-    on_data_available_.set_callback(user_data, callback);
+    std::unique_lock<std::mutex> lock_mutex(on_new_response_m_);
+
+    if (callback) {
+      // Push events arrived before setting the the executor callback
+      if (unread_count_) {
+        callback(user_data, unread_count_);
+        unread_count_ = 0;
+      }
+      user_data_ = user_data;
+      on_new_response_cb_ = callback;
+    } else {
+      user_data_ = nullptr;
+      on_new_response_cb_ = nullptr;
+    }
   }
 
 private:
@@ -216,8 +234,10 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
   std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::set<eprosima::fastrtps::rtps::GUID_t> publishers_;
 
-  // Callback to call when the listener detects events
-  EventTypeCallback on_data_available_;
+  rmw_event_callback_t on_new_response_cb_{nullptr};
+  const void * user_data_{nullptr};
+  std::mutex on_new_response_m_;
+  uint64_t unread_count_ = 0;
 };
 
 class ClientPubListener : public eprosima::fastdds::dds::DataWriterListener

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_event_info.hpp

@@ -62,10 +62,14 @@ class EventListenerInterface
 
   // Provide handlers to perform an action when a
   // new event from this listener has ocurred
-  virtual rmw_ret_t set_on_new_event_callback(
-    rmw_event_type_t event_type,
+  virtual void set_on_new_event_callback(
     const void * user_data,
     rmw_event_callback_t callback) = 0;
+
+  rmw_event_callback_t on_new_event_cb_{nullptr};
+  const void * user_data_{nullptr};
+  uint64_t unread_events_count_ = 0;
+  std::mutex on_new_event_m_;
 };
 
 class EventListenerInterface::ConditionalScopedLock
@@ -101,51 +105,4 @@ struct CustomEventInfo
   virtual EventListenerInterface * getListener() const = 0;
 };
 
-class EventTypeCallback
-{
-public:
-  EventTypeCallback() = default;
-
-  EventTypeCallback(size_t depth)
-  {
-    history_depth_ = (depth > 0) ? depth : std::numeric_limits<size_t>::max();
-  }
-
-  void set_callback(const void * user_data, rmw_event_callback_t callback)
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    if (callback) {
-      if (unread_count_) {
-        size_t count = std::min(unread_count_, history_depth_);
-        callback(user_data, count);
-        unread_count_ = 0;
-      }
-      user_data_ = user_data;
-      callback_ = callback;
-    } else {
-      user_data_ = nullptr;
-      callback_ = nullptr;
-    }
-  }
-
-  void call()
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    if (callback_) {
-      callback_(user_data_, 1);
-    } else {
-      unread_count_++;
-    }
-  }
-
-private:
-  std::mutex mutex_;
-  rmw_event_callback_t callback_{nullptr};
-  const void * user_data_{nullptr};
-  size_t unread_count_{0};
-  size_t history_depth_ = std::numeric_limits<size_t>::max();
-};
-
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp

@@ -107,9 +107,7 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
   hasEvent(rmw_event_type_t event_type) const final;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  rmw_ret_t
-  set_on_new_event_callback(
-    rmw_event_type_t event_type,
+  void set_on_new_event_callback(
     const void * user_data,
     rmw_event_callback_t callback) final;
 
@@ -160,11 +158,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
 
   std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
-
-  // The callbacks to call when the listener detects events
-  EventTypeCallback on_liveliness_lost_;
-  EventTypeCallback on_offered_deadline_missed_;
-  EventTypeCallback on_offered_incompatible_qos_;
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

@@ -42,7 +42,6 @@
 
 #include "rmw/event_callback_type.h"
 
-#include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
 #include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
@@ -250,7 +249,13 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
           list_has_data_.store(true);
         }
 
-        on_data_available_.call();
+        std::unique_lock<std::mutex> lock_mutex(on_new_request_m_);
+
+        if (on_new_request_cb_) {
+          on_new_request_cb_(user_data_, 1);
+        } else {
+          unread_count_++;
+        }
       }
     }
   }
@@ -308,7 +313,20 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
     const void * user_data,
     rmw_event_callback_t callback)
   {
-    on_data_available_.set_callback(user_data, callback);
+    std::unique_lock<std::mutex> lock_mutex(on_new_request_m_);
+
+    if (callback) {
+      // Push events arrived before setting the the executor callback
+      if (unread_count_) {
+        callback(user_data, unread_count_);
+        unread_count_ = 0;
+      }
+      user_data_ = user_data;
+      on_new_request_cb_ = callback;
+    } else {
+      user_data_ = nullptr;
+      on_new_request_cb_ = nullptr;
+    }
   }
 
 private:
@@ -319,8 +337,10 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
   std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
-  // Callback to call when the listener detects events
-  EventTypeCallback on_data_available_;
+  rmw_event_callback_t on_new_request_cb_{nullptr};
+  const void * user_data_{nullptr};
+  std::mutex on_new_request_m_;
+  uint64_t unread_count_ = 0;
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_SERVICE_INFO_HPP_

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

@@ -91,9 +91,9 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     sample_lost_changes_(false),
     incompatible_qos_changes_(false),
     conditionMutex_(nullptr),
-    conditionVariable_(nullptr),
-    on_data_available_(qos_depth)
+    conditionVariable_(nullptr)
   {
+    qos_depth_ = (qos_depth > 0) ? qos_depth : std::numeric_limits<size_t>::max();
     // Field is not used right now
     (void)info;
   }
@@ -115,13 +115,19 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     update_has_data(reader);
   }
 
-  RMW_FASTRTPS_SHARED_CPP_PUBLIC
   void
-  on_data_available(eprosima::fastdds::dds::DataReader * reader) final;
+  on_data_available(eprosima::fastdds::dds::DataReader * reader) final
+  {
+    update_has_data(reader);
 
-  RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  void
-  set_on_data_available_callback(const void * user_data, rmw_event_callback_t callback);
+    std::unique_lock<std::mutex> lock_mutex(on_new_message_m_);
+
+    if (on_new_message_cb_) {
+      on_new_message_cb_(user_data_, 1);
+    } else {
+      new_data_unread_count_++;
+    }
+  }
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   void
@@ -153,9 +159,7 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
   hasEvent(rmw_event_type_t event_type) const final;
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  rmw_ret_t
-  set_on_new_event_callback(
-    rmw_event_type_t event_type,
+  void set_on_new_event_callback(
     const void * user_data,
     rmw_event_callback_t callback) final;
 
@@ -205,6 +209,30 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     return publishers_.size();
   }
 
+  // Provide handlers to perform an action when a
+  // new event from this listener has ocurred
+  void
+  set_on_new_message_callback(
+    const void * user_data,
+    rmw_event_callback_t callback)
+  {
+    std::unique_lock<std::mutex> lock_mutex(on_new_message_m_);
+
+    if (callback) {
+      // Push events arrived before setting the executor's callback
+      if (new_data_unread_count_) {
+        auto unread_count = std::min(new_data_unread_count_, qos_depth_);
+        callback(user_data, unread_count);
+        new_data_unread_count_ = 0;
+      }
+      user_data_ = user_data;
+      on_new_message_cb_ = callback;
+    } else {
+      user_data_ = nullptr;
+      on_new_message_cb_ = nullptr;
+    }
+  }
+
 private:
   mutable std::mutex internalMutex_;
 
@@ -231,12 +259,10 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
 
   std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
-  // The callbacks to call when the listener detects events
-  EventTypeCallback on_sample_lost_;
-  EventTypeCallback on_data_available_;
-  EventTypeCallback on_liveliness_changed_;
-  EventTypeCallback on_requested_deadline_missed_;
-  EventTypeCallback on_requested_incompatible_qos_;
+  rmw_event_callback_t on_new_message_cb_{nullptr};
+  std::mutex on_new_message_m_;
+  size_t qos_depth_;
+  size_t new_data_unread_count_ = 0;
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_SUBSCRIBER_INFO_HPP_

rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw/error_handling.h"
-
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
 
 #include "fastdds/dds/core/status/BaseStatus.hpp"
@@ -46,7 +44,13 @@ PubListener::on_offered_deadline_missed(
 
   deadline_changes_.store(true, std::memory_order_relaxed);
 
-  on_offered_deadline_missed_.call();
+  std::unique_lock<std::mutex> lock_mutex(on_new_event_m_);
+
+  if (on_new_event_cb_) {
+    on_new_event_cb_(user_data_, 1);
+  } else {
+    unread_events_count_++;
+  }
 }
 
 void PubListener::on_liveliness_lost(
@@ -66,7 +70,13 @@ void PubListener::on_liveliness_lost(
 
   liveliness_changes_.store(true, std::memory_order_relaxed);
 
-  on_liveliness_lost_.call();
+  std::unique_lock<std::mutex> lock_mutex(on_new_event_m_);
+
+  if (on_new_event_cb_) {
+    on_new_event_cb_(user_data_, 1);
+  } else {
+    unread_events_count_++;
+  }
 }
 
 void PubListener::on_offered_incompatible_qos(
@@ -86,8 +96,6 @@ void PubListener::on_offered_incompatible_qos(
   incompatible_qos_status_.total_count_change += status.total_count_change;
 
   incompatible_qos_changes_.store(true, std::memory_order_relaxed);
-
-  on_offered_incompatible_qos_.call();
 }
 
 bool PubListener::hasEvent(rmw_event_type_t event_type) const
@@ -106,28 +114,24 @@ bool PubListener::hasEvent(rmw_event_type_t event_type) const
   return false;
 }
 
-rmw_ret_t PubListener::set_on_new_event_callback(
-  rmw_event_type_t event_type,
+void PubListener::set_on_new_event_callback(
   const void * user_data,
   rmw_event_callback_t callback)
 {
-  switch (event_type)
-  {
-    case RMW_EVENT_LIVELINESS_LOST:
-      on_liveliness_lost_.set_callback(user_data, callback);
-      break;
-    case RMW_EVENT_OFFERED_DEADLINE_MISSED:
-      on_offered_deadline_missed_.set_callback(user_data, callback);
-      break;
-    case RMW_EVENT_OFFERED_QOS_INCOMPATIBLE:
-      on_offered_incompatible_qos_.set_callback(user_data, callback);
-      break;
-    default:
-      RMW_SET_ERROR_MSG("provided event_type is not supported");
-      return RMW_RET_UNSUPPORTED;
-      break;
+  std::unique_lock<std::mutex> lock_mutex(on_new_event_m_);
+
+  if (callback) {
+    // Push events arrived before setting the executor's callback
+    if (unread_events_count_) {
+      callback(user_data, unread_events_count_);
+      unread_events_count_ = 0;
+    }
+    user_data_ = user_data;
+    on_new_event_cb_ = callback;
+  } else {
+    user_data_ = nullptr;
+    on_new_event_cb_ = nullptr;
   }
-  return RMW_RET_OK;
 }
 
 bool PubListener::takeNextEvent(rmw_event_type_t event_type, void * event_info)