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Fix memory leak in graph manager (#147) (#150)

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Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit c89776e1fd)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
mergify[bot]
2022-06-08 14:21:24 +02:00
committed by GitHub
co-authored by Pablo Garrido
parent 6b99ec7298
commit 0ae200d715
2 changed files with 11 additions and 3 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+6
View File
@@ -111,6 +111,12 @@ public:
const eprosima::fastdds::dds::DomainParticipant* participant, const eprosima::fastdds::dds::DomainParticipant* participant,
bool from_microros = true); bool from_microros = true);
/**
* @brief Getter for the graph cache.
* @return Reference to inner graph cache
*/
rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }
/** /**
* @brief Adds a DDS datawriter to the graph tree. * @brief Adds a DDS datawriter to the graph tree.
* @param datawriter_guid rtps::GUID_t of the datawriter to be added. * @param datawriter_guid rtps::GUID_t of the datawriter to be added.
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+5 -3
View File
@@ -597,7 +597,7 @@ GraphManager::ParticipantListener::ParticipantListener(
} }
void GraphManager::ParticipantListener::on_participant_discovery( void GraphManager::ParticipantListener::on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* participant, eprosima::fastdds::dds::DomainParticipant* /* participant */,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
{ {
switch (info.status) switch (info.status)
@@ -614,13 +614,15 @@ void GraphManager::ParticipantListener::on_participant_discovery(
const std::string enclave = const std::string enclave =
std::string(name_found->second.begin(), name_found->second.end()); std::string(name_found->second.begin(), name_found->second.end());
graphManager_from_->add_participant(participant, false, enclave); const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
graphManager_from_->get_graph_cache().add_participant(gid, enclave);
break; break;
} }
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT: case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT: case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
{ {
graphManager_from_->remove_participant(participant, false); const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
graphManager_from_->get_graph_cache().remove_participant(gid);
break; break;
} }
default: default: