Enable loan messages on subscriptions of plain types.

Signed-off-by: Miguel Company <[email protected]>
ros2 · Apr 12, 2021 · 6feb7cc · 6feb7cc
1 parent fc0f133
commit 6feb7cc
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Showing 4 changed files with 30 additions and 2 deletions.
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -43,6 +43,7 @@
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "rmw_fastrtps_shared_cpp/subscription.hpp"
 #include "rmw_fastrtps_shared_cpp/utils.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
@@ -324,7 +325,7 @@ create_subscription(
     return nullptr;
   }
   rmw_subscription->options = *subscription_options;
-  rmw_subscription->can_loan_messages = false;
+  rmw_fastrtps_shared_cpp::__init_subscription_for_loans(rmw_subscription);
 
   topic.should_be_deleted = false;
   cleanup_rmw_subscription.cancel();

diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -40,6 +40,7 @@
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "rmw_fastrtps_shared_cpp/subscription.hpp"
 #include "rmw_fastrtps_shared_cpp/utils.hpp"
 
 #include "fastrtps/participant/Participant.h"
@@ -338,7 +339,7 @@ create_subscription(
   memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
 
   rmw_subscription->options = *subscription_options;
-  rmw_subscription->can_loan_messages = false;
+  rmw_fastrtps_shared_cpp::__init_subscription_for_loans(rmw_subscription);
 
   topic.should_be_deleted = false;
   cleanup_rmw_subscription.cancel();

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/subscription.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/subscription.hpp
@@ -22,6 +22,11 @@
 namespace rmw_fastrtps_shared_cpp
 {
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+void
+__init_subscription_for_loans(
+  rmw_subscription_t * subscription);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 destroy_subscription(

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <memory>
+
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/serialized_message.h"
@@ -27,6 +29,7 @@
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "rmw_fastrtps_shared_cpp/subscription.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/utils.hpp"
 
@@ -377,10 +380,28 @@ struct LoanManager
     eprosima::fastdds::dds::SampleInfoSeq info_seq{};
   };
 
+  explicit LoanManager(const eprosima::fastrtps::ResourceLimitedContainerConfig & items_cfg)
+  : items(items_cfg)
+  {
+  }
+
   std::mutex mtx;
   eprosima::fastrtps::ResourceLimitedVector<Item> items RCPPUTILS_TSA_GUARDED_BY(mtx);
 };
 
+void
+__init_subscription_for_loans(
+  rmw_subscription_t * subscription)
+{
+  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
+  subscription->can_loan_messages = info->type_support_->is_plain();
+  if (subscription->can_loan_messages) {
+    const auto & qos = info->data_reader_->get_qos();
+    const auto & allocation_qos = qos.reader_resource_limits().outstanding_reads_allocation;
+    info->loan_manager_ = std::make_shared<LoanManager>(allocation_qos);
+  }
+}
+
 rmw_ret_t
 __rmw_take_loaned_message_internal(
   const char * identifier,