Avoid unnecessary sets of GUID_t

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp

@@ -22,7 +22,6 @@
 
 #include "fastdds/dds/core/status/BaseStatus.hpp"
 #include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
-#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
 #include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/DataWriterListener.hpp"
 #include "fastdds/dds/topic/Topic.hpp"
@@ -69,20 +68,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
   }
 
   // DataWriterListener implementation
-  RMW_FASTRTPS_SHARED_CPP_PUBLIC
-  void
-  on_publication_matched(
-    eprosima::fastdds::dds::DataWriter * /* writer */,
-    const eprosima::fastdds::dds::PublicationMatchedStatus & info) final
-  {
-    std::lock_guard<std::mutex> lock(internalMutex_);
-    if (info.current_count_change == 1) {
-      subscriptions_.insert(eprosima::fastrtps::rtps::iHandle2GUID(info.last_subscription_handle));
-    } else if (info.current_count_change == -1) {
-      subscriptions_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_subscription_handle));
-    }
-  }
-
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   void
   on_offered_deadline_missed(
@@ -116,12 +101,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
   takeNextEvent(rmw_event_type_t event_type, void * event_info) final;
 
   // PubListener API
-  size_t subscriptionCount()
-  {
-    std::lock_guard<std::mutex> lock(internalMutex_);
-    return subscriptions_.size();
-  }
-
   void
   attachCondition(std::mutex * conditionMutex, std::condition_variable * conditionVariable)
   {
@@ -141,9 +120,6 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
 private:
   mutable std::mutex internalMutex_;
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
-  RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
-
   std::atomic_bool deadline_changes_;
   eprosima::fastdds::dds::OfferedDeadlineMissedStatus offered_deadline_missed_status_
   RCPPUTILS_TSA_GUARDED_BY(internalMutex_);

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

@@ -26,7 +26,6 @@
 
 #include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
 #include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"
-#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
@@ -89,14 +88,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     eprosima::fastdds::dds::DataReader * reader,
     const eprosima::fastdds::dds::SubscriptionMatchedStatus & info) final
   {
-    {
-      std::lock_guard<std::mutex> lock(internalMutex_);
-      if (info.current_count_change == 1) {
-        publishers_.insert(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
-      } else if (info.current_count_change == -1) {
-        publishers_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
-      }
-    }
     update_has_data(reader);
   }
 
@@ -188,12 +179,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     data_.store(has_data, std::memory_order_relaxed);
   }
 
-  size_t publisherCount()
-  {
-    std::lock_guard<std::mutex> lock(internalMutex_);
-    return publishers_.size();
-  }
-
   // Provide handlers to perform an action when a
   // new event from this listener has ocurred
   void
@@ -242,8 +227,6 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
   std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
-
   rmw_event_callback_t on_new_message_cb_{nullptr};
   std::mutex on_new_message_m_;
   size_t qos_depth_;

rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp

@@ -20,6 +20,7 @@
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
+#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
 #include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
 
@@ -93,8 +94,9 @@ __rmw_publisher_count_matched_subscriptions(
   size_t * subscription_count)
 {
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
-
-  *subscription_count = info->listener_->subscriptionCount();
+  eprosima::fastdds::dds::PublicationMatchedStatus status{};
+  info->data_writer_->get_publication_matched_status(status);
+  *subscription_count = status.current_count;
 
   return RMW_RET_OK;
 }

rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp

@@ -20,6 +20,7 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
+#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 
@@ -87,8 +88,9 @@ __rmw_subscription_count_matched_publishers(
   size_t * publisher_count)
 {
   auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
-
-  *publisher_count = info->listener_->publisherCount();
+  eprosima::fastdds::dds::SubscriptionMatchedStatus status{};
+  info->data_reader_->get_subscription_matched_status(status);
+  *publisher_count = status.current_count;
 
   return RMW_RET_OK;
 }