Minor fixes

Signed-off-by: tempate <[email protected]>
eProsima · Oct 13, 2023 · ae61ca4 · ae61ca4
1 parent c8035cc
commit ae61ca4
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Showing 4 changed files with 16 additions and 19 deletions.
diff --git a/ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp b/ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp
@@ -333,6 +333,13 @@ class DdsPipe
      */
     void deactivate_all_topics_nts_() noexcept;
 
+    //////////////////////////
+    // CONFIGURATION VARIABLES
+    //////////////////////////
+
+    //! Configuration of the DDS Pipe
+    DdsPipeConfiguration configuration_;
+
     /////////////////////////
     // SHARED DATA STORAGE
     /////////////////////////
@@ -403,13 +410,6 @@ class DdsPipe
      * @brief Internal mutex for concurrent calls
      */
     mutable std::mutex mutex_;
-
-    //////////////////////////
-    // CONFIGURATION VARIABLES
-    //////////////////////////
-
-    //! Configuration of the DDS Pipe
-    DdsPipeConfiguration configuration_;
 };
 
 } /* namespace core */

diff --git a/ddspipe_participants/include/ddspipe_participants/reader/auxiliar/BaseReader.hpp b/ddspipe_participants/include/ddspipe_participants/reader/auxiliar/BaseReader.hpp
@@ -215,6 +215,12 @@ class BaseReader : public core::IReader
     //! Participant parent ID
     const core::types::ParticipantId participant_id_;
 
+    // Max reception rate
+    float max_rx_rate_;
+
+    //! Downsampling value
+    unsigned int downsampling_;
+
     //! Lambda to call the callback whenever a new data arrives
     std::function<void()> on_data_available_lambda_;
 
@@ -227,12 +233,6 @@ class BaseReader : public core::IReader
     //! Mutex that guards every access to the Reader
     mutable std::recursive_mutex mutex_;
 
-    // Max reception rate
-    float max_rx_rate_;
-
-    //! Downsampling value
-    unsigned int downsampling_;
-
     //! Counter used to keep only 1 sample of every N received, with N being the topic's downsampling factor.
     unsigned int downsampling_idx_ = 0;
 

diff --git a/ddspipe_participants/include/ddspipe_participants/writer/auxiliar/BaseWriter.hpp b/ddspipe_participants/include/ddspipe_participants/writer/auxiliar/BaseWriter.hpp
@@ -145,15 +145,15 @@ class BaseWriter : public core::IWriter
     //! Participant parent ID
     const core::types::ParticipantId participant_id_;
 
+    // Max transmission rate
+    float max_tx_rate_;
+
     //! Whether the Writer is currently enabled
     std::atomic<bool> enabled_;
 
     //! Mutex that guards every access to the Writer
     mutable std::recursive_mutex mutex_;
 
-    // Max transmission rate
-    float max_tx_rate_;
-
     //! Timestamp of the last sent message.
     utils::Timestamp last_sent_ts_ = utils::the_beginning_of_time();
 

diff --git a/ddspipe_participants/src/cpp/reader/rtps/CommonReader.cpp b/ddspipe_participants/src/cpp/reader/rtps/CommonReader.cpp
@@ -255,9 +255,6 @@ void CommonReader::enable_nts_() noexcept
 bool CommonReader::should_accept_change_(
         const fastrtps::rtps::CacheChange_t* change) noexcept
 {
-    // Get reception timestamp
-    auto now = utils::now();
-
     // Reject samples sent by a Writer from the same Participant this Reader belongs to
     if (come_from_this_participant_(change))
     {