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Update graph destructor

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This commit is contained in:
Antonio cuadros
2021-07-28 12:28:48 +02:00
parent a86d883128
commit 2ee51a45f3
3 changed files with 35 additions and 9 deletions
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micro_ros_agent/include/agent/Agent.hpp
+5
View File
@@ -29,6 +29,11 @@ class Agent
private:
Agent();
~Agent()
{
stop();
}
Agent(const Agent &) = delete;
Agent(Agent &&) = delete;
micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+23 -9
View File
@@ -80,15 +80,29 @@ public:
/**
* @brief Default destructor.
*/
~GraphManager()
{
if (microros_graph_publisher_.joinable())
{
exit = true;
cv_.notify_one();
microros_graph_publisher_.join();
}
}
~GraphManager() = default;
void stop()
{
if (microros_graph_publisher_.joinable())
{
exit = true;
cv_.notify_one();
microros_graph_publisher_.join();
}
subscriber_->delete_datareader(ros_discovery_datareader_);
publisher_->delete_datawriter(ros_to_microros_graph_datawriter_);
participant_->delete_subscriber(subscriber_);
participant_->delete_publisher(publisher_);
// Delete topics
participant_->delete_topic(ros_discovery_topic_);
participant_->delete_topic(ros_to_microros_graph_topic_);
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
/**
* @brief Implementation of the notification logic that updates the micro-ROS graph.