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Update graph manager

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This commit is contained in:
Antonio cuadros
2021-07-27 10:31:07 +02:00
parent 9564b943ee
commit f7fca51e2e
3 changed files with 29 additions and 45 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+9 -22
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@@ -80,29 +80,16 @@ public:
/**
* @brief Default destructor.
*/
~GraphManager()
~GraphManager() = default;
void stop()
{
graphCache_.clear_on_change_callback();
exit = true;
cv_.notify_one();
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_);
}
/**
@@ -302,11 +289,11 @@ private:
eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
rmw_dds_common::GraphCache graphCache_;
std::unique_ptr<ParticipantListener> participant_listener_;
std::unique_ptr<DatareaderListener> datareader_listener_;
ParticipantListener participant_listener_;
DatareaderListener datareader_listener_;
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
eprosima::fastdds::dds::TypeSupport microros_graph_info_typesupport_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Subscriber* subscriber_;