Always use the guard condition to notify

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
ros2 · Apr 6, 2023 · e9004b5 · e9004b5
1 parent 60a3017
commit e9004b5
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Showing 3 changed files with 14 additions and 10 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
@@ -368,9 +368,7 @@ void RMWPublisherEvent::update_matched(
   matched_status_.current_count_change += current_count_change;
   matched_changes_ = true;
 
-  if (on_new_event_cb_[RMW_EVENT_PUBLICATION_MATCHED]) {
-    trigger_event(RMW_EVENT_PUBLICATION_MATCHED);
-  }
+  trigger_event(RMW_EVENT_PUBLICATION_MATCHED);
 }
 
 void RMWPublisherEvent::trigger_event(rmw_event_type_t event_type)

diff --git a/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
@@ -494,9 +494,7 @@ void RMWSubscriptionEvent::update_matched(
   matched_status_.current_count_change += current_count_change;
   matched_changes_ = true;
 
-  if (on_new_event_cb_[RMW_EVENT_SUBSCRIPTION_MATCHED]) {
-    trigger_event(RMW_EVENT_SUBSCRIPTION_MATCHED);
-  }
+  trigger_event(RMW_EVENT_SUBSCRIPTION_MATCHED);
 }
 
 void RMWSubscriptionEvent::trigger_event(rmw_event_type_t event_type)

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_event.cpp b/rmw_fastrtps_shared_cpp/src/rmw_event.cpp
@@ -142,10 +142,18 @@ __rmw_init_event(
   rmw_event->data = data;
   rmw_event->event_type = event_type;
   CustomEventInfo * event = static_cast<CustomEventInfo *>(rmw_event->data);
-  eprosima::fastdds::dds::StatusMask status_mask =
-    event->get_listener()->get_statuscondition().get_enabled_statuses();
-  status_mask |= rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
-  event->get_listener()->get_statuscondition().set_enabled_statuses(status_mask);
+
+  // For matched events, we always notify the waitset with the guard condition,
+  // so we will not enable them on the status condition.
+  bool is_matched_event =
+    (RMW_EVENT_PUBLICATION_MATCHED == event_type) ||
+    (RMW_EVENT_SUBSCRIPTION_MATCHED == event_type);
+  if (!is_matched_event) {
+    eprosima::fastdds::dds::StatusMask status_mask =
+      event->get_listener()->get_statuscondition().get_enabled_statuses();
+    status_mask |= rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
+    event->get_listener()->get_statuscondition().set_enabled_statuses(status_mask);
+  }
 
   return RMW_RET_OK;
 }