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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/src/agent/graph_manager/graph_manager.cpp
+23 -18
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@@ -54,29 +54,29 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));
participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask);
// Register participant within typesupport
participant_->register_type(*participant_info_typesupport_);
participant_->register_type(*microros_graph_info_typesupport_);
// Create publisher
publisher_.reset(participant_->create_publisher(
eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
publisher_ = participant_->create_publisher(
eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);
// Create subscriber
subscriber_.reset(participant_->create_subscriber(
eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
subscriber_ = participant_->create_subscriber(
eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);
// Create topics
ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
participant_info_typesupport_->get_type_name(),
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
microros_graph_info_typesupport_->get_type_name(),
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
// Create datawriters
datawriter_qos_ =
@@ -97,8 +97,8 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
ros_to_microros_datawriter_qos_.history().kind =
eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
ros_to_microros_graph_datawriter_.reset(
publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
ros_to_microros_graph_datawriter_ =
publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);
// Create datareaders
@@ -114,9 +114,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
datareader_qos.durability().kind =
eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
ros_discovery_datareader_.reset(
subscriber_->create_datareader(ros_discovery_topic_.get(),
datareader_qos, datareader_listener_.get()));
ros_discovery_datareader_ =
subscriber_->create_datareader(ros_discovery_topic_,
datareader_qos, datareader_listener_.get());
// Set graph cache on change callback function
graphCache_.set_on_change_callback([this]()
@@ -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;
@@ -315,8 +320,8 @@ void GraphManager::add_participant(
if (it == micro_ros_graph_datawriters_.end())
{
// Create datawriter
std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
eprosima::fastdds::dds::DataWriter* datawriter;
datawriter = publisher_->create_datawriter(ros_discovery_topic_, datawriter_qos_);
it = micro_ros_graph_datawriters_.insert(
std::make_pair(participant, std::move(datawriter))).first;