Ignore ignored participants and endpoints (#113)

* Ignore ignored participants and endpoints Signed-off-by: Juan Lopez Fernandez <[email protected]> * Piggyback: remove redundant method Signed-off-by: Juan Lopez Fernandez <[email protected]> --------- Signed-off-by: Juan Lopez Fernandez <[email protected]>
eProsima · Dec 19, 2024 · 205685c · 205685c
1 parent 4799303
commit 205685c
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Showing 2 changed files with 7 additions and 22 deletions.
diff --git a/fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp b/fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp
@@ -83,9 +83,6 @@ class SpyDdsParticipant : public ddspipe::participants::DynTypesParticipant
     void internal_notify_endpoint_discovered_(
             const EndpointInfo& endpoint_discovered);
 
-    bool come_from_this_participant_(
-            const ddspipe::core::types::Guid& guid) const noexcept;
-
     //! Participants Internal Reader
     std::shared_ptr<ddspipe::participants::InternalReader> participants_reader_;
 

diff --git a/fastddsspy_participants/src/cpp/participant/SpyDdsParticipant.cpp b/fastddsspy_participants/src/cpp/participant/SpyDdsParticipant.cpp
@@ -61,7 +61,7 @@ void SpyDdsParticipant::on_participant_discovery(
         bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.guid))
+    if (ddspipe::participants::detail::come_from_same_participant_(info.guid, rtps_participant_->getGuid()))
     {
         return;
     }
@@ -85,15 +85,14 @@ void SpyDdsParticipant::on_reader_discovery(
         bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.guid))
+    if (ddspipe::participants::detail::come_from_same_participant_(info.guid, rtps_participant_->getGuid()))
     {
         return;
     }
 
     EndpointInfo endpoint_info = ddspipe::participants::detail::create_endpoint_from_info_(info, id());
-
-    // If participant left or dropped, this notification arrives as well
-    endpoint_info.active = !(reason == fastdds::rtps::ReaderDiscoveryStatus::REMOVED_READER);
+    endpoint_info.active = (reason == fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER
+            || reason == fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER);
 
     ddspipe::participants::DynTypesParticipant::on_reader_discovery(participant, reason, info, should_be_ignored);
 
@@ -107,15 +106,14 @@ void SpyDdsParticipant::on_writer_discovery(
         bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.guid))
+    if (ddspipe::participants::detail::come_from_same_participant_(info.guid, rtps_participant_->getGuid()))
     {
         return;
     }
 
     EndpointInfo endpoint_info = ddspipe::participants::detail::create_endpoint_from_info_(info, id());
-
-    // If participant left or dropped, this notification arrives as well
-    endpoint_info.active = !(reason == fastdds::rtps::WriterDiscoveryStatus::REMOVED_WRITER);
+    endpoint_info.active = (reason == fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER
+            || reason == fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER);
 
     ddspipe::participants::DynTypesParticipant::on_writer_discovery(participant, reason, info, should_be_ignored);
 
@@ -144,16 +142,6 @@ void SpyDdsParticipant::internal_notify_endpoint_discovered_(
     endpoints_reader_->simulate_data_reception(std::move(data));
 }
 
-/*
- * NOTE: this function is required apart from come_from_same_participant_
- * because this participant has 2 guids, the rtps and the dds participant ones
- */
-bool SpyDdsParticipant::come_from_this_participant_(
-        const ddspipe::core::types::Guid& guid) const noexcept
-{
-    return (guid.guid_prefix() == rtps_participant_->getGuid().guidPrefix);
-}
-
 } /* namespace participants */
 } /* namespace spy */
 } /* namespace eprosima */