Merge pull request #51 from lge-ros2/main

Merge 'main' branch into 'foxy'
lge-ros2 · Jan 10, 2022 · b9c292b · b9c292b
2 parents d751c29 + eb883b6
commit b9c292b
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Showing 2 changed files with 10 additions and 9 deletions.
diff --git a/cloisim_ros_base/src/base.cpp b/cloisim_ros_base/src/base.cpp
@@ -298,6 +298,7 @@ bool Base::GetBufferFromSimulator(zmq::Bridge* const bridge_ptr, void** ppBbuffe
   const auto succeeded = bridge_ptr->Receive(ppBbuffer, bufferLength, isNonBlockingMode);
   if (!succeeded || bufferLength < 0)
   {
+    DBG_SIM_ERR("Bridge Ptr: %p", bridge_ptr);
     return false;
   }
 

diff --git a/cloisim_ros_bridge_zmq/src/bridge.cpp b/cloisim_ros_bridge_zmq/src/bridge.cpp
@@ -158,11 +158,11 @@ bool Bridge::SetupSubscriber()
     return false;
   }
 
-  if (zmq_setsockopt(pSub_, ZMQ_RCVTIMEO, &recv_timeout, sizeof(recv_timeout)))
-  {
-    lastErrMsg = "SetSock Err:" + string(zmq_strerror(zmq_errno()));
-    return false;
-  }
+  // if (zmq_setsockopt(pSub_, ZMQ_RCVTIMEO, &recv_timeout, sizeof(recv_timeout)))
+  // {
+  //   lastErrMsg = "SetSock Err:" + string(zmq_strerror(zmq_errno()));
+  //   return false;
+  // }
 
   if (zmq_msg_init(&m_msgRx) < 0)
   {
@@ -328,7 +328,7 @@ bool Bridge::ConnectSubscriber(const uint16_t port, const string hashKey)
   }
 
   const string bridgeAddress = GetAddress(port);
-  DBG_SIM_MSG("address(%s) hash(%lX)", bridgeAddress.c_str(), nHashTag);
+  DBG_SIM_MSG("ptr(%p) address(%s) hash(%lX)", this, bridgeAddress.c_str(), nHashTag);
 
   if (zmq_connect(pSub_, bridgeAddress.c_str()) < 0)
   {
@@ -344,7 +344,7 @@ bool Bridge::ConnectPublisher(const uint16_t port, const string hashKey)
   m_nHashTagTx = GetHashCode(hashKey);
 
   const string bridgeAddress = GetAddress(port);
-  DBG_SIM_MSG("address(%s) hash(%lX)", bridgeAddress.c_str(), m_nHashTagTx);
+  DBG_SIM_MSG("ptr(%p) address(%s) hash(%lX)", this, bridgeAddress.c_str(), m_nHashTagTx);
 
   if (zmq_connect(pPub_, bridgeAddress.c_str()) < 0)
   {
@@ -360,7 +360,7 @@ bool Bridge::ConnectService(const uint16_t port, const string hashKey)
   m_nHashTagTx = GetHashCode(hashKey);
 
   const string bridgeAddress = GetAddress(port);
-  DBG_SIM_MSG("address(%s) hash(%lX)", bridgeAddress.c_str(), m_nHashTagTx);
+  DBG_SIM_MSG("ptr(%p) address(%s) hash(%lX)", this, bridgeAddress.c_str(), m_nHashTagTx);
 
   if (zmq_connect(pRep_, bridgeAddress.c_str()) < 0)
   {
@@ -376,7 +376,7 @@ bool Bridge::ConnectClient(const uint16_t port, const string hashKey)
   m_nHashTagTx = GetHashCode(hashKey);
 
   const string bridgeAddress = GetAddress(port);
-  DBG_SIM_MSG("address(%s) hash(%lX)", bridgeAddress.c_str(), m_nHashTagTx);
+  DBG_SIM_MSG("ptr(%p) address(%s) hash(%lX)", this, bridgeAddress.c_str(), m_nHashTagTx);
   if (zmq_connect(pReq_, bridgeAddress.c_str()) < 0)
   {
     lastErrMsg = "ConnectClient Err:" + string(zmq_strerror(zmq_errno()));