From 39d8ed0ba214a6356c4943de122c1f8f6cf39acf Mon Sep 17 00:00:00 2001
From: Antonio cuadros <acuadros1995@gmail.com>
Date: Fri, 16 Jul 2021 13:54:46 +0200
Subject: [PATCH] Add exit to graph manager thread

---
 .../include/agent/graph_manager/graph_manager.hpp    | 12 +++++++++++-
 .../src/agent/graph_manager/graph_manager.cpp        |  7 ++++++-
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
index 11b2145..1b2d7a4 100644
--- a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+++ b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
@@ -80,7 +80,16 @@ public:
     /**
      * @brief   Default destructor.
      */
-    ~GraphManager() = default;
+    ~GraphManager()
+    {
+        exit = true;
+        cv_.notify_one();
+
+        if (microros_graph_publisher_.joinable())
+        {
+            microros_graph_publisher_.join();
+        }
+    }
 
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
@@ -298,6 +307,7 @@ private:
             std::string& node_name,
             std::string& node_namespace);
 
+    bool exit = false;
     eprosima::fastdds::dds::DomainId_t domain_id_;
     bool graph_changed_;
     bool display_on_change_;
diff --git a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
index 83b2b64..ee761a3 100644
--- a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+++ b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
@@ -137,10 +137,15 @@ inline void GraphManager::publish_microros_graph()
             std::unique_lock<std::mutex> lock(mtx_);
             cv_.wait(lock, [this]()
             {
-                return this->graph_changed_;
+                return this->graph_changed_ || exit;
             });
         }
 
+        if (exit)
+        {
+            break;
+        }
+        
         if (display_on_change_)
         {
             std::cout << "Updated uros Graph: graph changed" << std::endl;