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Fix graph manager datawriters behaviour (#84) (#86)

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* Fix graph manager datawriters

Fixes

Fix

Fix destruction

* Revert "Fix graph manager datawriters"

This reverts commit 2847a2ebc3.

* Initial

(cherry picked from commit 646ca52aab)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
mergify[bot]
2021-07-09 13:41:52 +02:00
committed by GitHub
co-authored by Pablo Garrido
parent 80916d4949
commit 7f3f560bc7
3 changed files with 78 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files
micro_ros_agent/src/agent/Agent.cpp
+10 -38
View File
@@ -40,12 +40,7 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
graph_manager_->add_participant(participant);
});
xrce_dds_agent_instance_.add_middleware_callback(
@@ -61,13 +56,8 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
graph_manager_->remove_participant(participant->guid());
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
graph_manager_->remove_participant(participant);
});
xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -84,11 +74,7 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -115,11 +101,7 @@ bool Agent::create(
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -144,11 +126,7 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -174,11 +152,7 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -204,16 +178,14 @@ void Agent::run()
std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
{
auto it = graph_manager_map_.find(domain_id);
auto it = graph_manager_map_.find(domain_id);
if (it != graph_manager_map_.end()) {
return it->second;
}else{
return graph_manager_map_.insert(
std::pair<
eprosima::fastdds::dds::DomainId_t,
std::shared_ptr<graph_manager::GraphManager>
>(
std::make_pair(
domain_id,
std::make_shared<graph_manager::GraphManager>(domain_id)
)