Refs #9293. Check after parsing, adding comment on workaround.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
eProsima · Sep 11, 2020 · 3819bf7 · 3819bf7
1 parent d45f3e0
commit 3819bf7
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Showing 2 changed files with 25 additions and 14 deletions.
diff --git a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
@@ -788,13 +788,6 @@ bool ReaderProxyData::readFromCDRMessage(
                         m_guid = p.guid;
                         memcpy(m_key.value, p.guid.guidPrefix.value, 12);
                         memcpy(m_key.value + 12, p.guid.entityId.value, 4);
-
-                        if (!m_RTPSParticipantKey.isDefined())
-                        {
-                            p.guid.entityId = c_EntityId_RTPSParticipant;
-                            memcpy(m_RTPSParticipantKey.value, p.guid.guidPrefix.value, 12);
-                            memcpy(m_RTPSParticipantKey.value + 12, p.guid.entityId.value, 4);
-                        }
                         break;
                     }
                     case fastdds::dds::PID_UNICAST_LOCATOR:
@@ -971,6 +964,18 @@ bool ReaderProxyData::readFromCDRMessage(
                 m_topicKind = WITH_KEY;
             }
 
+            /* Some vendors (i.e. CycloneDDS) do not follow DDSI-RTPS and omit PID_PARTICIPANT_GUID
+             * In that case we use a default value relying on the prefix from m_guid and the default
+             * participant entity id
+             */
+            if (!m_RTPSParticipantKey.isDefined())
+            {
+                GUID_t tmp_guid = m_guid;
+                tmp_guid.entityId = c_EntityId_RTPSParticipant;
+                memcpy(m_RTPSParticipantKey.value, tmp_guid.guidPrefix.value, 12);
+                memcpy(m_RTPSParticipantKey.value + 12, tmp_guid.entityId.value, 4);
+            }
+
             return true;
         }
     }

diff --git a/src/cpp/rtps/builtin/data/WriterProxyData.cpp b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
@@ -804,13 +804,6 @@ bool WriterProxyData::readFromCDRMessage(
                         m_guid = p.guid;
                         memcpy(m_key.value, p.guid.guidPrefix.value, 12);
                         memcpy(m_key.value + 12, p.guid.entityId.value, 4);
-
-                        if (!m_RTPSParticipantKey.isDefined())
-                        {
-                            p.guid.entityId = c_EntityId_RTPSParticipant;
-                            memcpy(m_RTPSParticipantKey.value, p.guid.guidPrefix.value, 12);
-                            memcpy(m_RTPSParticipantKey.value + 12, p.guid.entityId.value, 4);
-                        }
                         break;
                     }
                     case fastdds::dds::PID_PERSISTENCE_GUID:
@@ -980,6 +973,19 @@ bool WriterProxyData::readFromCDRMessage(
             {
                 m_topicKind = WITH_KEY;
             }
+
+            /* Some vendors (i.e. CycloneDDS) do not follow DDSI-RTPS and omit PID_PARTICIPANT_GUID
+             * In that case we use a default value relying on the prefix from m_guid and the default
+             * participant entity id
+             */
+            if (!m_RTPSParticipantKey.isDefined())
+            {
+                GUID_t tmp_guid = m_guid;
+                tmp_guid.entityId = c_EntityId_RTPSParticipant;
+                memcpy(m_RTPSParticipantKey.value, tmp_guid.guidPrefix.value, 12);
+                memcpy(m_RTPSParticipantKey.value + 12, tmp_guid.entityId.value, 4);
+            }
+
             return true;
         }
     }