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Fix reading from DDS: read data in the requested buffer and not in our own private buffer.

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This commit is contained in:
Erik Hofman 2021-03-08 13:45:18 +01:00
parent 7b336d2018
commit 023364e245
2 changed files with 13 additions and 17 deletions
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20
simgear/io/SGDataDistributionService.cxx
View File

@ -86,7 +86,8 @@ SG_DDS::open( SGProtocolDir direction )
if (direction == SG_IO_IN || direction == SG_IO_BI) if (direction == SG_IO_IN || direction == SG_IO_BI)
{ {
dds_qos_t *qos = dds_create_qos(); dds_qos_t *qos = dds_create_qos();
dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10)); dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_MSECS(1));
dds_qset_history(qos, DDS_HISTORY_KEEP_LAST, 3);
reader = dds_create_reader(participant, topic, qos, NULL); reader = dds_create_reader(participant, topic, qos, NULL);
if (reader < 0) { if (reader < 0) {
@ -96,7 +97,6 @@ SG_DDS::open( SGProtocolDir direction )
} }
dds_delete_qos(qos); dds_delete_qos(qos);
sample[0] = dds_alloc(packet_size);
} }
if (direction == SG_IO_OUT || direction == SG_IO_BI) if (direction == SG_IO_OUT || direction == SG_IO_BI)
@ -142,16 +142,18 @@ SG_DDS::read( char *buf, int length )
{ {
int result; int result;
if (reader < 0 || length < packet_size) { if (reader < 0 || length < (int)packet_size) {
return 0; return 0;
} }
result = dds_take(reader, sample, info, 1, 1); dds_sample_info_t info[1];
if(result < 0) result = dds_take(reader, (void**)&buf, info, 1, 1);
if(result < 0 || !info[0].valid_data)
{ {
SG_LOG(SG_IO, SG_ALERT, "dds_take: " << dds_strretcode(errno));
errno = -result; errno = -result;
result = 0; result = 0;
SG_LOG(SG_IO, SG_ALERT, "dds_take: " << dds_strretcode(errno));
} }
return result*length; return result*length;
@ -164,16 +166,17 @@ SG_DDS::write( const char *buf, const int length )
{ {
int result; int result;
if (writer < 0 || length < packet_size) { if (writer < 0 || length < (int)packet_size) {
return 0; return 0;
} }
result = dds_write(writer, buf); result = dds_write(writer, buf);
if(result != DDS_RETCODE_OK) if(result != DDS_RETCODE_OK)
{ {
SG_LOG(SG_IO, SG_ALERT, "dds_write: " << dds_strretcode(errno));
errno = -result; errno = -result;
result = 0; result = 0;
SG_LOG(SG_IO, SG_ALERT, "dds_write: " << dds_strretcode(errno));
} }
else { else {
result = length; result = length;
@ -187,7 +190,6 @@ SG_DDS::write( const char *buf, const int length )
bool bool
SG_DDS::close() SG_DDS::close()
{ {
dds_sample_free(sample[0], descriptor, DDS_FREE_ALL);
dds_delete(participant); dds_delete(participant);
reader = -1; reader = -1;

6
simgear/io/SGDataDistributionService.hxx
View File

@ -35,9 +35,6 @@
#include <simgear/io/iochannel.hxx> #include <simgear/io/iochannel.hxx>
#define SG_MAX_DDS_QUEUE 1
/** /**
* A socket I/O class based on SGIOChannel. * A socket I/O class based on SGIOChannel.
*/ */
@ -55,9 +52,6 @@ private:
dds_entity_t writer = -1; dds_entity_t writer = -1;
dds_entity_t reader = -1; dds_entity_t reader = -1;
dds_sample_info_t info[SG_MAX_DDS_QUEUE];
void *sample[SG_MAX_DDS_QUEUE];
public: public:
/** Create an instance of SG_DDS. */ /** Create an instance of SG_DDS. */