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Update Graph manager destructor

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This commit is contained in:
Antonio cuadros
2021-07-22 15:46:47 +02:00
parent 3eb34010f0
commit e9bf7fa65b
2 changed files with 56 additions and 28 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+33 -10
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@@ -80,7 +80,30 @@ public:
/**
* @brief Default destructor.
*/
~GraphManager() = default;
~GraphManager()
{
graphCache_.clear_on_change_callback();
exit = true;
cv_.notify_one();
if (microros_graph_publisher_.joinable())
{
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.
@@ -274,6 +297,7 @@ private:
std::thread microros_graph_publisher_;
std::mutex mtx_;
std::condition_variable cv_;
volatile bool exit = false;
eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
@@ -283,18 +307,17 @@ private:
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
std::unique_ptr<eprosima::fastdds::dds::DomainParticipant> participant_;
std::unique_ptr<eprosima::fastdds::dds::Publisher> publisher_;
std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Subscriber* subscriber_;
eprosima::fastdds::dds::Topic* ros_discovery_topic_;
eprosima::fastdds::dds::Topic* ros_to_microros_graph_topic_;
eprosima::fastdds::dds::DataWriter* ros_to_microros_graph_datawriter_;
eprosima::fastdds::dds::DataReader* ros_discovery_datareader_;
// Store a auxiliary publishers and datawriter for each participant created in micro-ROS
std::map<
const eprosima::fastdds::dds::DomainParticipant*,
std::unique_ptr<eprosima::fastdds::dds::DataWriter>
eprosima::fastdds::dds::DataWriter*
> micro_ros_graph_datawriters_;
};