fix QoS depth settings for clients/service ignored (#564)

Signed-off-by: Chen Lihui <[email protected]> Co-authored-by: Miguel Company <[email protected]>
ros2 · Oct 6, 2021 · 32ce21d · 32ce21d
1 parent daeeb8c
commit 32ce21d
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 0 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -33,6 +33,7 @@
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
 #include "fastdds/dds/subscriber/SampleInfo.hpp"
+#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
 #include "fastdds/rtps/common/Guid.h"
@@ -104,6 +105,12 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
           response.sample_identity_.writer_guid() == info_->writer_guid_)
         {
           std::lock_guard<std::mutex> lock(internalMutex_);
+          const eprosima::fastrtps::HistoryQosPolicy & history = reader->get_qos().history();
+          if (eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == history.kind) {
+            while (list.size() >= static_cast<size_t>(history.depth)) {
+              list.pop_front();
+            }
+          }
 
           if (conditionMutex_ != nullptr) {
             std::unique_lock<std::mutex> clock(*conditionMutex_);

diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -31,6 +31,7 @@
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
 #include "fastdds/dds/subscriber/SampleInfo.hpp"
+#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
 #include "fastdds/rtps/common/Guid.h"
@@ -225,6 +226,12 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
         info_->pub_listener_->endpoint_add_reader_and_writer(reader_guid, writer_guid);
 
         std::lock_guard<std::mutex> lock(internalMutex_);
+        const eprosima::fastrtps::HistoryQosPolicy & history = reader->get_qos().history();
+        if (eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == history.kind) {
+          while (list.size() >= static_cast<size_t>(history.depth)) {
+            list.pop_front();
+          }
+        }
 
         if (conditionMutex_ != nullptr) {
           std::unique_lock<std::mutex> clock(*conditionMutex_);