Address review comments

Signed-off-by: Barry Xu <barry.xu@sony.com>
ros2 · May 21, 2021 · 3f655d4 · 3f655d4
1 parent 4495ef3
commit 3f655d4
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Showing 4 changed files with 18 additions and 6 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -105,11 +105,13 @@ bool fill_entity_qos_from_profile(
   }
 
   if (!is_rmw_duration_unspecified(qos_policies.lifespan)) {
-    entity_qos.lifespan().duration = rmw_time_to_fastrtps(qos_policies.lifespan);
+    entity_qos.lifespan().duration =
+      rmw_fastrtps_shared_cpp::rmw_time_to_fastrtps(qos_policies.lifespan);
   }
 
   if (!is_rmw_duration_unspecified(qos_policies.deadline)) {
-    entity_qos.deadline().period = rmw_time_to_fastrtps(qos_policies.deadline);
+    entity_qos.deadline().period =
+      rmw_fastrtps_shared_cpp::rmw_time_to_fastrtps(qos_policies.deadline);
   }
 
   switch (qos_policies.liveliness) {
@@ -127,7 +129,7 @@ bool fill_entity_qos_from_profile(
   }
   if (!is_rmw_duration_unspecified(qos_policies.liveliness_lease_duration)) {
     entity_qos.liveliness().lease_duration =
-      rmw_time_to_fastrtps(qos_policies.liveliness_lease_duration);
+      rmw_fastrtps_shared_cpp::rmw_time_to_fastrtps(qos_policies.liveliness_lease_duration);
 
     // Docs suggest setting no higher than 0.7 * lease_duration, choosing 2/3 to give safe buffer.
     // See doc at https://github.com/eProsima/Fast-RTPS/blob/

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -139,11 +139,11 @@ __rmw_publisher_wait_for_all_acked(
   eprosima::fastrtps::Duration_t timeout = rmw_time_to_fastrtps(wait_timeout);
 
   ReturnCode_t ret = info->data_writer_->wait_for_acknowledgments(timeout);
-  if (ret == ReturnCode_t::RETCODE_OK) {
+  if (ReturnCode_t::RETCODE_OK == ret) {
     return RMW_RET_OK;
-  } else {
-    return RMW_RET_TIMEOUT;
   }
+
+  return RMW_RET_TIMEOUT;
 }
 
 rmw_ret_t

diff --git a/rmw_fastrtps_shared_cpp/src/time_utils.cpp b/rmw_fastrtps_shared_cpp/src/time_utils.cpp
@@ -16,6 +16,9 @@
 
 #include "time_utils.hpp"
 
+namespace rmw_fastrtps_shared_cpp
+{
+
 eprosima::fastrtps::Duration_t
 rmw_time_to_fastrtps(const rmw_time_t & time)
 {
@@ -28,3 +31,5 @@ rmw_time_to_fastrtps(const rmw_time_t & time)
     static_cast<int32_t>(clamped_time.sec),
     static_cast<uint32_t>(clamped_time.nsec));
 }
+
+}  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/time_utils.hpp b/rmw_fastrtps_shared_cpp/src/time_utils.hpp
@@ -17,6 +17,11 @@
 
 #include "fastdds/rtps/common/Time_t.h"
 
+namespace rmw_fastrtps_shared_cpp
+{
+
 eprosima::fastrtps::Duration_t rmw_time_to_fastrtps(const rmw_time_t & time);
 
+}  // namespace rmw_fastrtps_shared_cpp
+
 #endif  // TIME_UTILS_HPP_