[24121] Account for notification sample in DataReaderHistory::get_first_untaken_info (backport #6276)#6278
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MiguelCompany merged 1 commit intomasterfrom Jan 27, 2026
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…ken_info` (#6276) * Refs #24120. Extend `return_sample_when_writer_disappears` blackbox test. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #24120. Refactor `ReadTakeCommand::generate_info`. Moving code to a public static method so it can be used outside. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #24120. Account for notification sample in `DataReaderHistory::get_first_untaken_info`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #24121. Please uncrustify. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #24121. Fix build error. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> --------- Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 0096d75)
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🧪 CI InsightsHere's what we observed from your CI run for f3d3a45. ❌ Job Failures
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Description
When using
get_first_untaken_infoto check whether a DataReader has a sample to be taken, the fake sample introduced in #5943 should be taken into account.Otherwise, as noted in ros2/rclcpp#3036, the application may enter an infinite loop in which a WaitSet waiting in the DataReader's StatusCondition never blocks, and
get_first_untaken_infonever returns OK, causing 100% CPU usage.NOTE: Opening against 3.4.x so the issue in ROS 2 is quickly fixed, so requesting a forward port to master
@Mergifyio backport master
Contributor Checklist
Commit messages follow the project guidelines.
The code follows the style guidelines of this project.
Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
Any new/modified methods have been properly documented using Doxygen.
N/A: Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
Changes are backport compatible: they do NOT break ABI nor change library core behavior.
Changes are API compatible.
N/A: New feature has been added to the
versions.mdfile (if applicable).N/A: New feature has been documented/Current behavior is correctly described in the documentation.
Applicable backports have been included in the description.
Reviewer Checklist
This is an automatic backport of pull request #6276 done by [Mergify](https://mergify.com).