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fix: populate reception_sequence_number and advertise sequence number features (backport #920) #922

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fix: populate reception_sequence_number and advertise sequence number features (backport #920) #922

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9 changes: 5 additions & 4 deletions rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -151,6 +151,7 @@ SubscriptionData::SubscriptionData(
type_support_(std::move(type_support)),
sub_options_(std::move(sub_options)),
last_known_published_msg_({}),
reception_sn_(0),
wait_set_data_(nullptr),
is_shutdown_(false),
initialized_(false)
Expand Down Expand Up @@ -422,8 +423,8 @@ rmw_ret_t SubscriptionData::take_one_message(
message_info->source_timestamp = msg_data->attachment.source_timestamp();
message_info->received_timestamp = msg_data->recv_timestamp;
message_info->publication_sequence_number = msg_data->attachment.sequence_number();
// TODO(clalancette): fill in reception_sequence_number
message_info->reception_sequence_number = 0;
message_info->reception_sequence_number =
reception_sn_.fetch_add(1, std::memory_order_relaxed);
message_info->publisher_gid.implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
memcpy(
message_info->publisher_gid.data,
Expand Down Expand Up @@ -479,8 +480,8 @@ rmw_ret_t SubscriptionData::take_serialized_message(
message_info->source_timestamp = msg_data->attachment.source_timestamp();
message_info->received_timestamp = msg_data->recv_timestamp;
message_info->publication_sequence_number = msg_data->attachment.sequence_number();
// TODO(clalancette): fill in reception_sequence_number
message_info->reception_sequence_number = 0;
message_info->reception_sequence_number =
reception_sn_.fetch_add(1, std::memory_order_relaxed);
message_info->publisher_gid.implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
memcpy(
message_info->publisher_gid.data,
Expand Down
3 changes: 3 additions & 0 deletions rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#ifndef DETAIL__RMW_SUBSCRIPTION_DATA_HPP_
#define DETAIL__RMW_SUBSCRIPTION_DATA_HPP_

#include <atomic>
#include <condition_variable>
#include <cstddef>
#include <cstdint>
Expand Down Expand Up @@ -152,6 +153,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
std::deque<std::unique_ptr<Message>> message_queue_;
// Map GID of a subscription to the sequence number of the message it published.
std::unordered_map<size_t, int64_t> last_known_published_msg_;
// Per-subscriber reception sequence number counter, incremented on every take.
std::atomic<uint64_t> reception_sn_;
// Wait set data.
rmw_wait_set_data_t * wait_set_data_;
// Callback managers.
Expand Down
4 changes: 2 additions & 2 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,9 +140,9 @@ bool rmw_feature_supported(rmw_feature_t feature)
{
switch (feature) {
case RMW_FEATURE_MESSAGE_INFO_PUBLICATION_SEQUENCE_NUMBER:
return false;
return true;
case RMW_FEATURE_MESSAGE_INFO_RECEPTION_SEQUENCE_NUMBER:
return false;
return true;
case RMW_MIDDLEWARE_SUPPORTS_TYPE_DISCOVERY:
return true;
case RMW_MIDDLEWARE_CAN_TAKE_DYNAMIC_MESSAGE:
Expand Down
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