Allow loaned messages without data-sharing (ros2#568)

* Allow publishers to loan messages without datasharing Signed-off-by: Miguel Company <[email protected]> * Allow subscriptions to loan messages without datasharing Signed-off-by: Miguel Company <[email protected]> * Removed unused using directive. Signed-off-by: Miguel Company <[email protected]> Signed-off-by: Miguel Company <[email protected]>
eProsima · Jan 14, 2023 · 19d141d · 19d141d
1 parent b56cd5f
commit 19d141d
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Showing 3 changed files with 3 additions and 11 deletions.
diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -51,8 +51,6 @@
 
 #include "type_support_common.hpp"
 
-using DataSharingKind = eprosima::fastdds::dds::DataSharingKind;
-
 rmw_publisher_t *
 rmw_fastrtps_cpp::create_publisher(
   const CustomParticipantInfo * participant_info,
@@ -309,8 +307,7 @@ rmw_fastrtps_cpp::create_publisher(
       rmw_publisher_free(rmw_publisher);
     });
 
-  bool has_data_sharing = DataSharingKind::OFF != writer_qos.data_sharing().kind();
-  rmw_publisher->can_loan_messages = has_data_sharing && info->type_support_->is_plain();
+  rmw_publisher->can_loan_messages = info->type_support_->is_plain();
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
 

diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -49,7 +49,6 @@
 #include "type_support_common.hpp"
 #include "type_support_registry.hpp"
 
-using DataSharingKind = eprosima::fastdds::dds::DataSharingKind;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
 
 rmw_publisher_t *
@@ -313,8 +312,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
       rmw_publisher_free(rmw_publisher);
     });
 
-  bool has_data_sharing = DataSharingKind::OFF != writer_qos.data_sharing().kind();
-  rmw_publisher->can_loan_messages = has_data_sharing && info->type_support_->is_plain();
+  rmw_publisher->can_loan_messages = info->type_support_->is_plain();
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
 

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -42,8 +42,6 @@
 namespace rmw_fastrtps_shared_cpp
 {
 
-using DataSharingKind = eprosima::fastdds::dds::DataSharingKind;
-
 void
 _assign_message_info(
   const char * identifier,
@@ -460,8 +458,7 @@ __init_subscription_for_loans(
 {
   auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
   const auto & qos = info->data_reader_->get_qos();
-  bool has_data_sharing = DataSharingKind::OFF != qos.data_sharing().kind();
-  subscription->can_loan_messages = has_data_sharing && info->type_support_->is_plain();
+  subscription->can_loan_messages = info->type_support_->is_plain();
   if (subscription->can_loan_messages) {
     const auto & allocation_qos = qos.reader_resource_limits().outstanding_reads_allocation;
     info->loan_manager_ = std::make_shared<LoanManager>(allocation_qos);