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Fix memory leak in graph manager (backport #147) #148

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Merged
pablogs9 merged 1 commit into from
Jun 8, 2022
Merged

Fix memory leak in graph manager (backport #147) #148

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6 changes: 6 additions & 0 deletions micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,12 @@ class GraphManager
const eprosima::fastdds::dds::DomainParticipant* participant,
bool from_microros = true);

/**
* @brief Getter for the graph cache.
* @return Reference to inner graph cache
*/
rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }

/**
* @brief Adds a DDS datawriter to the graph tree.
* @param datawriter_guid rtps::GUID_t of the datawriter to be added.
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8 changes: 5 additions & 3 deletions micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -597,7 +597,7 @@ GraphManager::ParticipantListener::ParticipantListener(
}

void GraphManager::ParticipantListener::on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastdds::dds::DomainParticipant* /* participant */,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
{
switch (info.status)
Expand All @@ -614,13 +614,15 @@ void GraphManager::ParticipantListener::on_participant_discovery(
const std::string enclave =
std::string(name_found->second.begin(), name_found->second.end());

graphManager_from_->add_participant(participant, false, enclave);
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
graphManager_from_->get_graph_cache().add_participant(gid, enclave);
break;
}
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
{
graphManager_from_->remove_participant(participant, false);
const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
graphManager_from_->get_graph_cache().remove_participant(gid);
break;
}
default:
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