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Use client's reader guid for service introspection event gid. #781

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Oct 3, 2024
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Use client's reader guid for service introspection event gid. #781

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5 changes: 4 additions & 1 deletion rmw_fastrtps_shared_cpp/src/rmw_get_gid_for_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,10 @@ __rmw_get_gid_for_client(
RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);

const auto * info = static_cast<const CustomClientInfo *>(client->data);
copy_from_fastrtps_guid_to_byte_array(info->writer_guid_, gid->data);
// Use client's reader guid instead of writer guid for service event,
// because service server uses client's reader guid for the event.
// Service event message requires gid must be unique during transaction.
copy_from_fastrtps_guid_to_byte_array(info->reader_guid_, gid->data);
gid->implementation_identifier = identifier;
return RMW_RET_OK;
}
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