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Fill in message_info timestamps #163

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merged 3 commits into from
Apr 23, 2020
Merged

Fill in message_info timestamps #163

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6b13f55
Fill in message_info timestamps
iluetkeb Apr 22, 2020
e10d020
Report error when timestamp cannot be obtained.
iluetkeb Apr 23, 2020
9139607
return 0 for received timestamp to signify lack of support
iluetkeb Apr 23, 2020
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5 changes: 4 additions & 1 deletion rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1972,13 +1972,17 @@ static rmw_ret_t rmw_take_int(
dds_sample_info_t info;
while (dds_take(sub->enth, &ros_message, &info, 1, 1) == 1) {
if (info.valid_data) {
*taken = true;
if (message_info) {
message_info->publisher_gid.implementation_identifier = eclipse_cyclonedds_identifier;
memset(message_info->publisher_gid.data, 0, sizeof(message_info->publisher_gid.data));
assert(sizeof(info.publication_handle) <= sizeof(message_info->publisher_gid.data));
memcpy(
message_info->publisher_gid.data, &info.publication_handle,
sizeof(info.publication_handle));
message_info->source_timestamp = info.source_timestamp;
// TODO(iluetkeb) add received timestamp, when implemented by Cyclone
message_info->received_timestamp = 0;
}
#if REPORT_LATE_MESSAGES > 0
dds_time_t tnow = dds_time();
Expand All @@ -1987,7 +1991,6 @@ static rmw_ret_t rmw_take_int(
fprintf(stderr, "** sample in history for %.fms\n", static_cast<double>(dt) / 1e6);
}
#endif
*taken = true;
return RMW_RET_OK;
}
}
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