fix talker and listener

[daohu527]

listener not work

void Manager::OnRemoteChange(const std::string& msg_str) {
  if (is_shutdown_.load()) {
    ADEBUG << "the manager has been shut down.";
    return;
  }

  ChangeMsg msg;
  RETURN_IF(!message::ParseFromString(msg_str, &msg));    // error

[daohu527]

string use fastcdr will cause error, so we should regenerate underlay_message

struct underlay_message {
  int32_t m_timestamp;
  int32_t m_seq;
  std::vector<char> m_data;
  std::vector<char> m_datatype;
};

for now we use the string size patch instead.

[daohu527]

The above error is temporarily fixed, but the message cannot be received

OnChannelChange not triggered by the corresponding reader and writer

core/cyber/node/writer.h

Lines 196 to 213 in cfc8a73

	template <typename MessageT>
	void Writer<MessageT>::OnChannelChange(const proto::ChangeMsg& change_msg) {
	if (change_msg.role_type() != proto::RoleType::ROLE_READER) {
	return;
	}
	auto& reader_attr = change_msg.role_attr();
	if (reader_attr.channel_name() != this->role_attr_.channel_name()) {
	return;
	}
	auto operate_type = change_msg.operate_type();
	if (operate_type == proto::OperateType::OPT_JOIN) {
	transmitter_->Enable(reader_attr);
	} else {
	transmitter_->Disable(reader_attr);
	}
	}

[daohu527]

#6

[daohu527]

seems subscriber_ can't receive msg from publisher_, OnRemoteChange call just own but need others, for example reader need writer, and writer need reader

bool Manager::CreateSubscriber(RtpsParticipant* participant) {
  RtpsSubscriberAttr sub_attr;
  RETURN_VAL_IF(
      !AttributesFiller::FillInSubAttr(
          channel_name_, QosProfileConf::QOS_PROFILE_TOPO_CHANGE, &sub_attr),
      false);
  listener_ = new SubscriberListener(
      std::bind(&Manager::OnRemoteChange, this, std::placeholders::_1));

  subscriber_ = eprosima::fastrtps::Domain::createSubscriber(
      participant, sub_attr, listener_);
  return subscriber_ != nullptr;
}

[daohu527]

eProsima/Fast-DDS#5128

Fastdds cannot send or receive data. I suspect it is due to a parameter problem in Participant::CreateFastRtpsParticipant.

[zsqrq]

I come up with the same problem

[zsqrq]

W20250516 09:20:59.524883 2622667 rtps_dispatcher.h:94] {[(testexample)]}HasParseFromString is not met.