Update graph destructor

* Fix graph manager datawriters

Fixes

Fix

Fix destruction

* Revert "Fix graph manager datawriters"

This reverts commit 2847a2ebc3.

* Initial

(cherry picked from commit 646ca52aab)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/ci.yml

@@ -9,7 +9,7 @@ jobs:
 
     microros_agent_ci:
         runs-on: ubuntu-20.04
-        container: microros/base:rolling
+        container: microros/base:foxy
 
         steps:
         - uses: actions/checkout@v2

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -87,11 +87,11 @@ public:
 		if (microros_graph_publisher_.joinable())
 		{
 			exit = true;
-        	cv_.notify_one();
+			cv_.notify_one();
 			microros_graph_publisher_.join();
 		}
 
-        subscriber_->delete_datareader(ros_discovery_datareader_);
+		subscriber_->delete_datareader(ros_discovery_datareader_);
 		publisher_->delete_datawriter(ros_to_microros_graph_datawriter_);
 
 		participant_->delete_subscriber(subscriber_);
@@ -154,6 +154,21 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
+    /**
+     * @brief   Adds a DDS datawriter to the graph tree.
+     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
+     * @param   topic_name Name of the topic to which the datawriter sends information to.
+     * @param   type_name Type name of the sent topic.
+     * @param   participant_guid rtps::GUID_t of the participant which owns this datawriter.
+     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
+     */
+    void add_datawriter(
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const std::string& topic_name,
+            const std::string& type_name,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::dds::WriterQos& writer_qos);
+
     /**
      * @brief   Removes a DDS datawriter from the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
@@ -187,6 +202,21 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
+    /**
+     * @brief   Adds a DDS datareader to the graph tree.
+     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
+     * @param   topic_name Name of the topic to which the datareader sends information to.
+     * @param   type_name Type name of the sent topic.
+     * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
+     * @param   writer_qos QOS of the datareader to be included into the graph tree.
+     */
+    void add_datareader(
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const std::string& topic_name,
+            const std::string& type_name,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::dds::ReaderQos& reader_qos);
+
     /**
      * @brief   Removes a DDS datareader from the graph tree.
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
@@ -301,7 +331,6 @@ private:
     eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
 
     rmw_dds_common::GraphCache graphCache_;
-
     ParticipantListener participant_listener_;
     DatareaderListener datareader_listener_;
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -34,7 +34,6 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     , microros_graph_info_typesupport_()
 {
     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();
 
@@ -55,7 +54,6 @@ 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_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
         create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
 
@@ -99,7 +97,6 @@ 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_ = 
         publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);
 
@@ -381,6 +378,24 @@ void GraphManager::add_datawriter(
         type_name, participant_gid, qos_profile, false);
 }
 
+void GraphManager::add_datawriter(
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const std::string& topic_name,
+        const std::string& type_name,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::dds::WriterQos& writer_qos)
+{
+    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datawriter_guid);
+    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", participant_guid);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
+    dds_qos_to_rmw_qos(writer_qos, &qos_profile);
+
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
+}
+
 void GraphManager::remove_datawriter(
         const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
 {
@@ -418,6 +433,24 @@ void GraphManager::add_datareader(
         type_name, participant_gid, qos_profile, true);
 }
 
+void GraphManager::add_datareader(
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const std::string& topic_name,
+        const std::string& type_name,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::dds::ReaderQos& reader_qos)
+{
+    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datareader_guid);
+    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", participant_guid);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
+    dds_qos_to_rmw_qos(reader_qos, &qos_profile);
+
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
+}
+
 void GraphManager::remove_datareader(
         const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
 {
@@ -550,7 +583,7 @@ void GraphManager::update_node_entities_info()
     if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
     {
-        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
         {
             graphCache_.update_participant_entities(entities_info);
         }
@@ -635,52 +668,6 @@ void GraphManager::ParticipantListener::on_participant_discovery(
     }
 }
 
-static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::WriterQos& writer_qos)
-{
-    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    datawriter_qos.durability(writer_qos.m_durability);
-    datawriter_qos.durability_service(writer_qos.m_durabilityService);
-    datawriter_qos.deadline(writer_qos.m_deadline);
-    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
-    datawriter_qos.liveliness(writer_qos.m_liveliness);
-    datawriter_qos.reliability(writer_qos.m_reliability);
-    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
-    datawriter_qos.lifespan(writer_qos.m_lifespan);
-    datawriter_qos.user_data(writer_qos.m_userData);
-    datawriter_qos.ownership(writer_qos.m_ownership);
-    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
-    datawriter_qos.publish_mode(writer_qos.m_publishMode);
-    datawriter_qos.representation(writer_qos.representation);
-    datawriter_qos.data_sharing(writer_qos.data_sharing);
-
-    return datawriter_qos;
-}
-
-static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
-    const eprosima::fastdds::dds::ReaderQos& reader_qos)
-{
-    eprosima::fastdds::dds::DataReaderQos datareader_qos;
-
-    datareader_qos.durability(reader_qos.m_durability);
-    datareader_qos.deadline(reader_qos.m_deadline);
-    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
-    datareader_qos.liveliness(reader_qos.m_liveliness);
-    datareader_qos.reliability(reader_qos.m_reliability);
-    datareader_qos.destination_order(reader_qos.m_destinationOrder);
-    datareader_qos.user_data(reader_qos.m_userData);
-    datareader_qos.ownership(reader_qos.m_ownership);
-    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
-    datareader_qos.lifespan(reader_qos.m_lifespan);
-    datareader_qos.durability_service(reader_qos.m_durabilityService);
-    eprosima::fastdds::dds::TypeConsistencyQos consistency;
-    consistency.type_consistency = reader_qos.type_consistency;
-    datareader_qos.type_consistency(consistency);
-    datareader_qos.data_sharing(reader_qos.data_sharing);
-
-    return datareader_qos;
-}
-
 template <>
 void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
         const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
@@ -697,7 +684,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = reader_info.info.typeName().to_string();
 
             graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
             break;
         }
         default:
@@ -724,7 +711,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = writer_info.info.typeName().to_string();
 
             graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
             break;
         }
         default: