Update graph manager

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -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_;
+    ParticipantListener participant_listener_;
-    std::unique_ptr<DatareaderListener> datareader_listener_;
+    DatareaderListener datareader_listener_;
 
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
+    eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_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_;

micro_ros_agent/src/agent/Agent.cpp

@@ -35,8 +35,6 @@ bool Agent::create(
         int argc,
         char** argv)
 {
-    stop();
-
     bool result = xrce_dds_agent_instance_.create(argc, argv);
 
     if (result && !initialized)
@@ -190,22 +188,21 @@ void Agent::run()
 void Agent::stop()
 {
     xrce_dds_agent_instance_.stop();
-    graph_manager_map_.clear();
+
+    for (auto & element : graph_manager_map_)
+    {
+        element.second.stop();
+    }
 }
 
-std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
     auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
-        return it->second;
+        return &it->second;
     }else{
-        return graph_manager_map_.insert(
+        return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
     }
 }
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -28,14 +28,14 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     , mtx_()
     , cv_()
     , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
+    , participant_listener_(this)
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
+    , datareader_listener_(this)
-    , participant_info_typesupport_(std::make_unique<
+    , participant_info_typesupport_()
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
+    , microros_graph_info_typesupport_()
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
 {
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
+    participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
+    microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
 
     // Create DomainParticipant
     eprosima::fastdds::dds::DomainParticipantQos participant_qos =
@@ -55,11 +55,11 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
     participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
-        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask);
+        create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
 
     // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
+    participant_->register_type(participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
+    participant_->register_type(microros_graph_info_typesupport_);
 
     // Create publisher
     publisher_ = participant_->create_publisher(
@@ -71,11 +71,11 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     // Create topics
     ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
+        participant_info_typesupport_.get_type_name(),
         eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
     ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
+        microros_graph_info_typesupport_.get_type_name(),
         eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
     // Create datawriters
@@ -116,7 +116,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     ros_discovery_datareader_ = 
         subscriber_->create_datareader(ros_discovery_topic_,
-            datareader_qos, datareader_listener_.get());
+            datareader_qos, &datareader_listener_);
 
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()