Only keep subscription count on custom_publisher_info.

Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 1, 2022 · eaa72a3 · eaa72a3
1 parent 6c4584b
commit eaa72a3
Showing 1 changed file with 3 additions and 7 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
@@ -76,11 +76,7 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
     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));
-    }
+    subscription_count_ = info.current_count;
   }
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
@@ -119,7 +115,7 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
   size_t subscriptionCount()
   {
     std::lock_guard<std::mutex> lock(internalMutex_);
-    return subscriptions_.size();
+    return subscription_count_;
   }
 
   void
@@ -141,7 +137,7 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
 private:
   mutable std::mutex internalMutex_;
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
+  std::size_t subscription_count_ = 0
   RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
   std::atomic_bool deadline_changes_;