Change add to the map to listener callback

Signed-off-by: JLBuenoLopez-eProsima <[email protected]>
ros2 · Oct 21, 2020 · 2ece75b · 2ece75b
1 parent 2a88843
commit 2ece75b
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Showing 3 changed files with 6 additions and 264 deletions.
diff --git a/diff_eprosima.txt b/diff_eprosima.txt
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -205,6 +205,12 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
           request.sample_identity_.writer_guid() = reader_guid;
         }
 
+        // Save both guids in the clients_endpoints map
+        const eprosima::fastrtps::rtps::GUID_t & writer_guid =
+          request.sample_info_.sample_identity.writer_guid();
+        info_->pub_listener_->clients_endpoints().emplace(reader_guid, writer_guid);
+        info_->pub_listener_->clients_endpoints().emplace(writer_guid, reader_guid);
+
         std::lock_guard<std::mutex> lock(internalMutex_);
 
         if (conditionMutex_ != nullptr) {

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_request.cpp b/rmw_fastrtps_shared_cpp/src/rmw_request.cpp
@@ -112,14 +112,6 @@ __rmw_take_request(
     delete request.buffer_;
 
     *taken = true;
-
-    // Save both endpoint GUIDs in the clients_endpoints map
-    ServicePubListener * listener = info->pub_listener_;
-    eprosima::fastrtps::rtps::GUID_t related_guid = request.sample_identity_.writer_guid();
-    eprosima::fastrtps::rtps::GUID_t writer_guid =
-      request.sample_info_.sample_identity.writer_guid();
-    listener->clients_endpoints().emplace(related_guid, writer_guid);
-    listener->clients_endpoints().emplace(writer_guid, related_guid);
   }
 
   return RMW_RET_OK;