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Switch to one participant per context model #145

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merged 9 commits into from
Apr 22, 2020
Merged

Switch to one participant per context model #145

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1743815
Switch to one participant per context model
eboasson Apr 8, 2020
912823e
remove participant entities info
eboasson Apr 16, 2020
52b7479
Update listener/thread comment following review
eboasson Apr 16, 2020
ce59290
Single DDS publisher/subscriber pair per context
eboasson Apr 16, 2020
81b6c61
Also free entities created on behalf of graph cache
eboasson Apr 16, 2020
29c95b5
Satisfy uncrustify
eboasson Apr 16, 2020
4a16158
Use constructor for minimal initialisation of rmw_context_impl_t
eboasson Apr 17, 2020
a6e21db
Fix "unused return value" warning
eboasson Apr 18, 2020
dda187a
Delete dds domain in rmw_context_impl_t destructor
eboasson Apr 19, 2020
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8 changes: 2 additions & 6 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -235,11 +235,7 @@ struct CddsDomain
{}

~CddsDomain()
{
if (domain_handle > 0) {
static_cast<void>(dds_delete(domain_handle));
}
}
{}
};

struct rmw_context_impl_t
Expand Down Expand Up @@ -288,6 +284,7 @@ struct rmw_context_impl_t
CddsDomain & dom = gcdds.domains[domain_id];
assert(dom.refcount > 0);
if (--dom.refcount == 0) {
static_cast<void>(dds_delete(dom.domain_handle));
gcdds.domains.erase(domain_id);
}
}
Expand Down Expand Up @@ -738,7 +735,6 @@ static bool check_create_domain(dds_domainid_t did, rmw_localhost_only_t localho
RCUTILS_LOG_ERROR_NAMED(
"rmw_cyclonedds_cpp",
"rmw_create_node: failed to create domain, error %s", dds_strretcode(dom.domain_handle));
dds_delete(dom.domain_handle);
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gcdds.domains.erase(did);
return false;
} else {
Expand Down