代码笔记记录一下0918

lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$ git status
位于分支 debug_br_release_zeekrdds_v10_20231223
您的分支与上游分支 'origin/br_release_zeekrdds_v10_20231223' 一致。

尚未暂存以备提交的变更：
  （使用 "git add <文件>..." 更新要提交的内容）
  （使用 "git restore <文件>..." 丢弃工作区的改动）
        修改：     src/cpp/fastdds/publisher/DataWriterImpl.cpp
        修改：     src/cpp/fastdds/subscriber/DataReaderImpl.cpp

修改尚未加入提交（使用 "git add" 和/或 "git commit -a"）
lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$ git diff src/cpp/fastdds/publisher/DataWriterImpl.cpp
diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
index c7d3b300c..a4266bd9c 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.cpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -1438,7 +1438,9 @@ bool DataWriterImpl::deadline_missed()
     auto listener = get_listener_for(notify_status);
     if (nullptr != listener)
     {
-        listener->on_offered_deadline_missed(user_datawriter_, deadline_missed_status_);
+        //if (!deadline_missed_status_.total_count % 1000) {
+            listener->on_offered_deadline_missed(user_datawriter_, deadline_missed_status_);
+        //}
         deadline_missed_status_.total_count_change = 0;
     }
     user_datawriter_->get_statuscondition().get_impl()->set_status(notify_status, true);
lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$ 
lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$ 
lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$ git diff src/cpp/fastdds/subscriber/DataReaderImpl.cpp
diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
index 15f4a5d85..afc326242 100644
--- a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
+++ b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
@@ -1184,7 +1184,9 @@ bool DataReaderImpl::deadline_missed()
     auto listener = get_listener_for(notify_status);
     if (nullptr != listener)
     {
-        listener->on_requested_deadline_missed(user_datareader_, deadline_missed_status_);
+        //if (!deadline_missed_status_.total_count % 1000) {
+            listener->on_requested_deadline_missed(user_datareader_, deadline_missed_status_);
+        //}
         deadline_missed_status_.total_count_change = 0;
     }
     user_datareader_->get_statuscondition().get_impl()->set_status(notify_status, true);
lmk@docker_123:/zdrive/platform/modules/framework/ros2/src/fastdds/fastrtps$

RCUTILS_LOG_WARN_NAMED("rmw_fastrtps_cpp", "create dw in topic:%s, reliabilityQos is:%s, "
                          "dw history.depth is:%d, durability is:%s, "
                          "pub mode is:%s, heartbeat period is:%d",
                          topic_name,
                          (writer_qos.reliability().kind == eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS) ? "RELIABLE" : "BEST_EFFORT",
                          writer_qos.history().depth,
                          (writer_qos.durability().kind == eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS) ? "volatile" : "transient local",
                          (writer_qos.publish_mode().kind == eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE) ? "async" : "sync",
                          writer_qos.reliable_writer_qos().times.heartbeatPeriod.seconds);

RCUTILS_LOG_WARN_NAMED("rmw_fastrtps_cpp", "create dr in topic:%s, reliabilityQos is:%s, "
                          "dr history.depth is:%d, durability is:%s ",
                          topic_name,
                          (reader_qos.reliability().kind == eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS) ? "RELIABLE" : "BEST_EFFORT",
                          reader_qos.history().depth,
                          (reader_qos.durability().kind == eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS) ? "volatile" : "transient local");