Fix/snap version (#162)

* fix(snap): grade and version should be from the part

* CI(snap): need git history for latest git tag

* ci(snap): use new action-publish crendential system

* ignore snap

.github/workflows/snap.yaml

@@ -15,13 +15,11 @@ jobs:
     runs-on: ubuntu-latest
     outputs:
       snap-file: ${{ steps.build-snap.outputs.snap }}
-    strategy:
-      matrix:
-        architecture:
-        - linux/amd64
-        - linux/arm64
     steps:
     - uses: actions/checkout@v2
+      with:
+        # full history for latest tag name
+        fetch-depth: 0
     - uses: snapcore/action-build@v1
       id: build-snap
       with:
@@ -43,18 +41,14 @@ jobs:
     if: github.ref == 'refs/heads/foxy' || startsWith(github.ref, 'refs/tags/')
     runs-on: ubuntu-latest
     needs: build
-    strategy:
-      matrix:
-        architecture:
-        - linux/amd64
-        - linux/arm64
     steps:
     - uses: actions/download-artifact@v3
       with:
         name: micro-ros-agent-snap
         path: .
     - uses: snapcore/action-publish@v1
+      env:
+        SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
       with:
-        store_login: ${{ secrets.STORE_LOGIN }}
         snap: ${{needs.build.outputs.snap-file}}
         release: ${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}

.gitignore

@@ -33,3 +33,7 @@
 # End of https://www.gitignore.io/api/qtcreator
 
 CMakeLists.txt.user
+
+
+# snaps
+*.snap

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.4 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#171 <https://github.com/micro-ROS/micro-ROS-Agent/issues/171>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#167 <https://github.com/micro-ROS/micro-ROS-Agent/issues/167>`_)
+
 1.5.3 (2022-06-13)
 ------------------
 * Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#149 <https://github.com/micro-ROS/micro-ROS-Agent/issues/149>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -335,7 +335,7 @@ private:
     // 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_;
 };
 

micro_ros_agent/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>1.5.3</version>
+  <version>1.5.4</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -126,8 +126,10 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
     {
-        std::unique_lock<std::mutex> lock(this->mtx_);
-        this->graph_changed_ = true;
+        {
+            std::unique_lock<std::mutex> lock(this->mtx_);
+            this->graph_changed_ = true;
+        }
         this->cv_.notify_one();
     });
 
@@ -144,6 +146,7 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
+            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -151,7 +154,6 @@ inline void GraphManager::publish_microros_graph()
             std::cout << "Updated uros Graph: graph changed" << std::endl;
             std::cout << graphCache_ << std::endl;
         }
-        graph_changed_ = false;
 
         micro_ros_msgs::msg::Graph graph_message;
 
@@ -320,11 +322,10 @@ 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 = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, std::move(datawriter))).first;
+                std::make_pair(participant, datawriter)).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -344,8 +345,9 @@ void GraphManager::remove_participant(
         rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
         auto it = micro_ros_graph_datawriters_.find(participant);
         it->second->write(static_cast<void *>(&info));
+        publisher_->delete_datawriter(it->second);
+        micro_ros_graph_datawriters_.erase(participant);
     }
-    micro_ros_graph_datawriters_.erase(participant);
 }
 
 void GraphManager::add_datawriter(

snap/snapcraft.yaml

@@ -1,6 +1,6 @@
 name: micro-ros-agent
+adopt-info: uros-agent # parse metadata from the uros-agent part
 base: core20
-version: git
 summary: Bridge between Micro ROS client applications and ROS 2
 description: |
   Micro-ROS, whose default implementation is based on eProsima's
@@ -99,7 +99,6 @@ description: |
   After this, you can execute your snap as usual,
   using `sudo micro-ros-agent serial -d <serial-dev>`.
 
-grade: stable
 confinement: strict
 
 architectures:
@@ -123,7 +122,7 @@ parts:
         snapcraftctl set-version "$version"
         snapcraftctl set-grade "$grade"
 
-    build-packages: [make, gcc, g++]
+    build-packages: [make, gcc, g++, git]
     stage-packages: [ros-foxy-ros2launch]
 
   runner: