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Fix repeated matched event notification #682

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Fix repeated matched event notification #682

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11 changes: 11 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,17 @@ __rmw_wait(
if (guard_condition.get_trigger_value()) {
active = true;
guard_condition.set_trigger_value(false);
} else {
switch (event->event_type) {
// Both a listener and a WaitSet for the same communication status, there are
// 2 triggers. Avoid repeated notification, filter it based trigger value.
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case RMW_EVENT_SUBSCRIPTION_MATCHED:
case RMW_EVENT_PUBLICATION_MATCHED:
active = false;
break;
default:
break;
}
}
}

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