Refs #21314: Fix conflicts and build issues

Signed-off-by: JesusPoderoso <[email protected]>
eProsima · Sep 23, 2024 · a4eb611 · a4eb611
1 parent d5a09d8
commit a4eb611
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Showing 4 changed files with 19 additions and 16 deletions.
diff --git a/src/cpp/fastdds/domain/DomainParticipantImpl.cpp b/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
@@ -1221,7 +1221,7 @@ bool DomainParticipantImpl::contains_entity(
 ReturnCode_t DomainParticipantImpl::get_current_time(
         fastrtps::Time_t& current_time) const
 {
-    fastdds::dds::Time_t::now(current_time);
+    fastrtps::Time_t::now(current_time);
 
     return ReturnCode_t::RETCODE_OK;
 }

diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -1550,24 +1550,25 @@ bool DataWriterImpl::lifespan_expired()
 {
     std::unique_lock<RecursiveTimedMutex> lock(writer_->getMutex());
 
-    fastdds::rtps::Time_t current_ts;
-    fastdds::rtps::Time_t::now(current_ts);
+    fastrtps::Time_t current_ts;
+    fastrtps::Time_t::now(current_ts);
 
     CacheChange_t* earliest_change;
     while (history_.get_earliest_change(&earliest_change))
     {
-        fastdds::rtps::Time_t expiration_ts = earliest_change->sourceTimestamp + qos_.lifespan().duration;
+        fastrtps::Time_t expiration_ts(earliest_change->sourceTimestamp.seconds(), earliest_change->sourceTimestamp.nanosec());
+        expiration_ts = expiration_ts + qos_.lifespan().duration;
 
         // Check that the earliest change has expired (the change which started the timer could have been removed from the history)
         if (current_ts < expiration_ts)
         {
-            fastdds::rtps::Time_t interval = expiration_ts - current_ts;
+            fastrtps::Time_t interval = expiration_ts - current_ts;
             lifespan_timer_->update_interval_millisec(interval.to_ns() * 1e-6);
             return true;
         }
 
         // The earliest change has expired
-        history_->remove_change_pub(earliest_change);
+        history_.remove_change_pub(earliest_change);
     }
 
     return false;

diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
@@ -1123,9 +1123,10 @@ bool DataReaderImpl::on_new_cache_change_added(
         return true;
     }
 
-    fastdds::rtps::Time_t expiration_ts = change->sourceTimestamp + qos_.lifespan().duration;
-    fastdds::rtps::Time_t current_ts;
-    fastdds::rtps::Time_t::now(current_ts);
+    fastrtps::Time_t expiration_ts(change->sourceTimestamp.seconds(), change->sourceTimestamp.nanosec());
+    expiration_ts = expiration_ts + qos_.lifespan().duration;
+    fastrtps::Time_t current_ts;
+    fastrtps::Time_t::now(current_ts);
 
     // The new change could have expired if it arrived too late
     // If so, remove it from the history and return false to avoid notifying the listener
@@ -1153,7 +1154,7 @@ bool DataReaderImpl::on_new_cache_change_added(
 
     // Update and restart the timer
     // If the timer is already running this will not have any effect
-    fastdds::rtps::Time_t interval = expiration_ts - current_ts;
+    fastrtps::Time_t interval = expiration_ts - current_ts;
     lifespan_timer_->update_interval_millisec(interval.to_ns() * 1e-6);
     lifespan_timer_->restart_timer();
     return true;
@@ -1273,18 +1274,19 @@ bool DataReaderImpl::lifespan_expired()
 {
     std::unique_lock<RecursiveTimedMutex> lock(reader_->getMutex());
 
-    fastdds::rtps::Time_t current_ts;
-    fastdds::rtps::Time_t::now(current_ts);
+    fastrtps::Time_t current_ts;
+    fastrtps::Time_t::now(current_ts);
 
     CacheChange_t* earliest_change;
     while (history_.get_earliest_change(&earliest_change))
     {
-        fastdds::rtps::Time_t expiration_ts = earliest_change->sourceTimestamp + qos_.lifespan().duration;
+        fastrtps::Time_t expiration_ts(earliest_change->sourceTimestamp.seconds(), earliest_change->sourceTimestamp.nanosec());
+        expiration_ts = expiration_ts + qos_.lifespan().duration;
 
         // Check that the earliest change has expired (the change which started the timer could have been removed from the history)
         if (current_ts < expiration_ts)
         {
-            fastdds::rtps::Time_t interval = expiration_ts - current_ts;
+            fastrtps::Time_t interval = expiration_ts - current_ts;
             lifespan_timer_->update_interval_millisec(interval.to_ns() * 1e-6);
             return true;
         }

diff --git a/src/cpp/rtps/writer/StatefulWriter.cpp b/src/cpp/rtps/writer/StatefulWriter.cpp
@@ -182,7 +182,7 @@ StatefulWriter::StatefulWriter(
     , may_remove_change_(0)
     , disable_heartbeat_piggyback_(att.disable_heartbeat_piggyback)
     , disable_positive_acks_(att.disable_positive_acks)
-    , keep_duration_us_(att.keep_duration.to_ns() * 1e-3)
+    , keep_duration_(att.keep_duration.to_ns() * 1e-3)
     , last_sequence_number_()
     , biggest_removed_sequence_number_()
     , sendBufferSize_(pimpl->get_min_network_send_buffer_size())
@@ -217,7 +217,7 @@ StatefulWriter::StatefulWriter(
     , may_remove_change_(0)
     , disable_heartbeat_piggyback_(att.disable_heartbeat_piggyback)
     , disable_positive_acks_(att.disable_positive_acks)
-    , keep_duration_us_(att.keep_duration.to_ns() * 1e-3)
+    , keep_duration_(att.keep_duration.to_ns() * 1e-3)
     , last_sequence_number_()
     , biggest_removed_sequence_number_()
     , sendBufferSize_(pimpl->get_min_network_send_buffer_size())