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examples/connext_dds/waitset_status_cond/py/USER_QOS_PROFILES.xml

@@ -26,28 +26,7 @@
              and DataReader created in the example code.
              A QoS profile groups a set of related QoS.
         -->
-        <qos_profile name="waitset_status_cond_py_Profile" base_name="BuiltinQosLibExp::Generic.StrictReliable" is_default_qos="true">
-            <!-- QoS used to configure the data writer created in the example code -->
-            <datawriter_qos>
-                <reliability>
-                    <kind>RELIABLE_RELIABILITY_QOS</kind>
-                </reliability>
-
-                <history>
-                    <kind>KEEP_ALL_HISTORY_QOS</kind>
-                </history>
-            </datawriter_qos>
-
-            <!-- QoS used to configure the data reader created in the example code -->
-            <datareader_qos>
-                <reliability>
-                    <kind>RELIABLE_RELIABILITY_QOS</kind>
-                </reliability>
-
-                <history>
-                    <kind>KEEP_ALL_HISTORY_QOS</kind>
-                </history>
-            </datareader_qos>
+        <qos_profile name="waitset_status_cond_py_Profile" base_name="BuiltinQosLib::Generic.StrictReliable" is_default_qos="true">
 
             <domain_participant_qos>
                 <!-- The participant name, if it is set, will be displayed in the RTI

examples/connext_dds/waitset_status_cond/py/waitset_status_cond_publisher.py

@@ -8,7 +8,6 @@
 # any incidental or consequential damages arising out of the use or inability
 # to use the software.
 
-import time
 import argparse
 
 import rti.connextdds as dds
@@ -32,20 +31,10 @@ def publisher_main(domain_id, sample_count):
     # Enable statuses configuration for the Status Condition
     status_condition.enabled_statuses = dds.StatusMask.PUBLICATION_MATCHED
 
-    # This enables start sending samples when we know there's a match
-    send_samples = False
-
     # Define a handler for the Status Condition
     def status_handler(_):
-        nonlocal send_samples
-        status_mask = writer.status_changes
         st = writer.publication_matched_status
-
-        if dds.StatusMask.PUBLICATION_MATCHED in status_mask:
-            if st.current_count > 0:
-                send_samples = True
-            else:
-                send_samples = False
+        print(f"Publication matched changed => Matched readers = {st.current_count}")
 
     status_condition.set_handler(status_handler)
 
@@ -65,12 +54,10 @@ def status_handler(_):
             # WaitSet conditions when they activate
             waitset.dispatch(dds.Duration(1, 0))  # Wait up to 1s each time
 
-            if send_samples:
-                print(f"Writing Foo, count = {samples_sent}")
-                sample.x = samples_sent
-                writer.write(sample)
-
-                samples_sent += 1
+            print(f"Writing Foo, count = {samples_sent}")
+            sample.x = samples_sent
+            writer.write(sample)
+            samples_sent += 1
         except KeyboardInterrupt:
             break