Add more debugging listener callbacks

ddspipe_participants/include/ddspipe_participants/reader/rtps/CommonReader.hpp

@@ -112,6 +112,41 @@ class CommonReader : public BaseReader, public fastrtps::rtps::ReaderListener
  fastrtps::rtps::RTPSReader*,
  fastrtps::rtps::MatchingInfo& info) noexcept override;
 
+ /**
+ * This method is called when a new Writer is discovered, with a Topic that
+ * matches that of a local reader, but with an offered QoS that is incompatible
+ * with the one requested by the local reader
+ * @param qos A mask with the bits of all incompatible Qos activated.
+ */
+ DDSPIPE_PARTICIPANTS_DllAPI
+ void on_requested_incompatible_qos(
+ fastrtps::rtps::RTPSReader*,
+ eprosima::fastdds::dds::PolicyMask qos) noexcept override;
+
+ /**
+ * This method is called when the reader detects that one or more samples have been lost.
+ *
+ * @param sample_lost_since_last_update The number of samples that were lost since the last time this
+ * method was called for the same reader.
+ */
+ DDSPIPE_PARTICIPANTS_DllAPI
+ void on_sample_lost(
+ fastrtps::rtps::RTPSReader*,
+ int32_t sample_lost_since_last_update) noexcept override;
+
+ /**
+ * This method is called when the reader rejects a samples.
+ *
+ * @param reason Indicates reason for sample rejection.
+ * @param change Pointer to the CacheChange_t. This is a const pointer to const data
+ * to indicate that the user should not dispose of this data himself.
+ */
+ DDSPIPE_PARTICIPANTS_DllAPI
+ void on_sample_rejected(
+ fastrtps::rtps::RTPSReader*,
+ eprosima::fastdds::dds::SampleRejectedStatusKind reason,
+ const fastrtps::rtps::CacheChange_t* const change) noexcept override;
+
  /////////////////////////
  // RPC REQUIRED METHODS
  /////////////////////////

ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp

@@ -108,6 +108,17 @@ class CommonWriter : public BaseWriter, public fastrtps::rtps::WriterListener
  fastrtps::rtps::RTPSWriter*,
  fastrtps::rtps::MatchingInfo& info) noexcept override;
 
+ /**
+ * This method is called when a new Reader is discovered, with a Topic that
+ * matches that of a local writer, but with a requested QoS that is incompatible
+ * with the one offered by the local writer
+ * @param qos A mask with the bits of all incompatible Qos activated.
+ */
+ DDSPIPE_PARTICIPANTS_DllAPI
+ void on_offered_incompatible_qos(
+ fastrtps::rtps::RTPSWriter*,
+ eprosima::fastdds::dds::PolicyMask qos) noexcept override;
+
  /////////////////////
  // STATIC ATTRIBUTES
  /////////////////////

ddspipe_participants/src/cpp/reader/rtps/CommonReader.cpp

@@ -454,6 +454,51 @@ void CommonReader::onReaderMatched(
  }
 }
 
+void CommonReader::on_requested_incompatible_qos(
+ fastrtps::rtps::RTPSReader*,
+ eprosima::fastdds::dds::PolicyMask qos) noexcept
+{
+ logWarning(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+ "Reader " << *this << " found a remote Writer with incompatible QoS: " << qos);
+}
+
+void CommonReader::on_sample_lost(
+ fastrtps::rtps::RTPSReader*,
+ int32_t sample_lost_since_last_update) noexcept
+{
+ logWarning(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+ "On reader " << *this << " a data sample was lost and will not be received");
+}
+
+void CommonReader::on_sample_rejected(
+ fastrtps::rtps::RTPSReader*,
+ eprosima::fastdds::dds::SampleRejectedStatusKind reason,
+ const fastrtps::rtps::CacheChange_t* const change) noexcept
+{
+ std::string reason_str;
+ switch (reason)
+ {
+ case eprosima::fastdds::dds::SampleRejectedStatusKind::NOT_REJECTED:
+ reason_str = "NOT_REJECTED";
+ break;
+ case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_INSTANCES_LIMIT:
+ reason_str = "REJECTED_BY_INSTANCES_LIMIT";
+ break;
+ case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_SAMPLES_LIMIT:
+ reason_str = "REJECTED_BY_SAMPLES_LIMIT";
+ break;
+ case eprosima::fastdds::dds::SampleRejectedStatusKind::REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT:
+ reason_str = "REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT";
+ break;
+ default:
+ reason_str = "UNKNOWN";
+ break;
+ }
+ logInfo(DDSPIPE_RTPS_COMMONREADER_LISTENER,
+ "Reader " << *this << " rejected a sample from " << change->writerGUID
+ << ". Reason: " << reason_str);
+}
+
 utils::ReturnCode CommonReader::is_data_correct_(
  const fastrtps::rtps::CacheChange_t* received_change) const noexcept
 {

ddspipe_participants/src/cpp/writer/rtps/CommonWriter.cpp

@@ -123,6 +123,14 @@ void CommonWriter::onWriterMatched(
  }
 }
 
+void CommonWriter::on_offered_incompatible_qos(
+ fastrtps::rtps::RTPSWriter*,
+ eprosima::fastdds::dds::PolicyMask qos) noexcept
+{
+ logWarning(DDSPIPE_RTPS_COMMONWRITER_LISTENER,
+ "Writer " << *this << " found a remote Reader with incompatible QoS: " << qos);
+}
+
 bool CommonWriter::come_from_this_participant_(
  const fastrtps::rtps::GUID_t guid) const noexcept
 {