Only use matched event

Signed-off-by: Barry Xu <barry.xu@sony.com>
ros2 · Mar 15, 2023 · f2c0310 · f2c0310
1 parent ab13561
commit f2c0310
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Showing 3 changed files with 18 additions and 21 deletions.
diff --git a/rmw/include/rmw/event.h b/rmw/include/rmw/event.h
@@ -38,14 +38,12 @@ typedef enum rmw_event_type_e
   RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE,
   RMW_EVENT_MESSAGE_LOST,
   RMW_EVENT_SUBSCRIPTION_MATCHED,
-  RMW_EVENT_SUBSCRIPTION_UNMATCHED,
 
   // publisher events
   RMW_EVENT_LIVELINESS_LOST,
   RMW_EVENT_OFFERED_DEADLINE_MISSED,
   RMW_EVENT_OFFERED_QOS_INCOMPATIBLE,
   RMW_EVENT_PUBLICATION_MATCHED,
-  RMW_EVENT_PUBLICATION_UNMATCHED,
 
   // sentinel value
   RMW_EVENT_INVALID

diff --git a/rmw/include/rmw/events_statuses/events_statuses.h b/rmw/include/rmw/events_statuses/events_statuses.h
@@ -18,9 +18,9 @@
 #include "rmw/events_statuses/incompatible_qos.h"
 #include "rmw/events_statuses/liveliness_changed.h"
 #include "rmw/events_statuses/liveliness_lost.h"
+#include "rmw/events_statuses/matched.h"
 #include "rmw/events_statuses/message_lost.h"
 #include "rmw/events_statuses/offered_deadline_missed.h"
 #include "rmw/events_statuses/requested_deadline_missed.h"
-#include "rmw/events_statuses/matched.h"
 
 #endif  // RMW__EVENTS_STATUSES__EVENTS_STATUSES_H_
diff --git a/rmw/include/rmw/events_statuses/matched.h b/rmw/include/rmw/events_statuses/matched.h
@@ -1,4 +1,4 @@
-// Copyright 2022 Sony Group Corporation.
+// Copyright 2023 Sony Group Corporation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -25,35 +25,34 @@ extern "C"
 {
 #endif
 
-struct RMW_PUBLIC_TYPE rmw_matched_unmatched_status_s
+struct RMW_PUBLIC_TYPE rmw_matched_status_s
 {
+  /**
+   * For publisher, the total cumulative count of subscribers matched to the concerned publisher.
+   *
+   * For subscriber, the total cumulative count of publishers matched to the concerned subscriber.
+   */
+  size_t total_count;
+
+  /**
+   * total_count change since last time the status was read.
+   */
+  size_t total_count_change;
+
   /**
    * For publisher, the number of subscribers currently matched to the concerned publisher.
    *
    * For subscriber, the number of publishers currently matched to the concerned subscriber.
    */
-  int32_t current_matched_count;
+  size_t current_count;
 
   /**
-   * Matched or unmatched count since the last time the status was read.
-   *
-   * For publisher
-   * If you get matched status, this count means the number of subscribers matched to the
-   * concerned publisher.
-   * If you get unmatched status, this count means the number of subscribers unmatched to
-   * the concerned publisher.
-   *
-   * For subscriber
-   * If you get matched status, this count means the number of publishers matched to the
-   * concerned subscriber.
-   * If you get unmatched status, this count means the number of publishers unmatched to
-   * the concerned subscriber.
+   * The current_count change since last time the status was read.
    */
   int32_t current_count_change;
 };
 
-typedef struct rmw_matched_unmatched_status_s rmw_matched_status_t;
-typedef struct rmw_matched_unmatched_status_s rmw_unmatched_status_t;
+typedef struct rmw_matched_status_s rmw_matched_status_t;
 
 #ifdef __cplusplus
 }