Refs #12368: Included PR #2122 more requested changes

Signed-off-by: Juan López Fernández <[email protected]>

Author: juanlofer-eprosima

examples/C++/DDS/HelloWorldExampleDiscoveryServer/HelloWorldPublisher.cpp

@@ -81,24 +81,26 @@ bool HelloWorldPublisher::init(
     // Add remote SERVER to CLIENT's list of SERVERs
     pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
 
+    // CREATE THE PARTICIPANT
     participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
 
     if (participant_ == nullptr)
     {
         return false;
     }
 
-    //REGISTER THE TYPE
+    // REGISTER THE TYPE
     type_.register_type(participant_);
 
-    //CREATE THE PUBLISHER
+    // CREATE THE PUBLISHER
     publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
 
     if (publisher_ == nullptr)
     {
         return false;
     }
 
+    // CREATE THE TOPIC
     topic_ = participant_->create_topic(topic_name, "HelloWorld", TOPIC_QOS_DEFAULT);
 
     if (topic_ == nullptr)
@@ -119,19 +121,22 @@ bool HelloWorldPublisher::init(
 
 HelloWorldPublisher::~HelloWorldPublisher()
 {
-    if (writer_ != nullptr)
+    if (participant_ != nullptr)
     {
-        publisher_->delete_datawriter(writer_);
-    }
-    if (publisher_ != nullptr)
-    {
-        participant_->delete_publisher(publisher_);
-    }
-    if (topic_ != nullptr)
-    {
-        participant_->delete_topic(topic_);
+        if (publisher_ != nullptr)
+        {
+            if (writer_ != nullptr)
+            {
+                publisher_->delete_datawriter(writer_);
+            }
+            participant_->delete_publisher(publisher_);
+        }
+        if (topic_ != nullptr)
+        {
+            participant_->delete_topic(topic_);
+        }
+        DomainParticipantFactory::get_instance()->delete_participant(participant_);
     }
-    DomainParticipantFactory::get_instance()->delete_participant(participant_);
 }
 
 void HelloWorldPublisher::PubListener::on_publication_matched(
@@ -181,7 +186,7 @@ void HelloWorldPublisher::PubListener::wait()
 
 void HelloWorldPublisher::PubListener::awake()
 {
-    wait_matched_cv_.notify_one();
+    wait_matched_cv_.notify_all();
 }
 
 void HelloWorldPublisher::runThread(

examples/C++/DDS/HelloWorldExampleDiscoveryServer/HelloWorldPublisher.h

@@ -67,6 +67,8 @@ class HelloWorldPublisher
 
     eprosima::fastdds::dds::DataWriter* writer_;
 
+    eprosima::fastdds::dds::TypeSupport type_;
+
     class PubListener : public eprosima::fastdds::dds::DataWriterListener
     {
     public:
@@ -110,8 +112,6 @@ class HelloWorldPublisher
             uint32_t number,
             uint32_t sleep);
 
-    eprosima::fastdds::dds::TypeSupport type_;
-
     static std::atomic<bool> stop_;
 };
 

examples/C++/DDS/HelloWorldExampleDiscoveryServer/HelloWorldServer.cpp

@@ -45,7 +45,7 @@ bool HelloWorldServer::is_stopped()
 void HelloWorldServer::stop()
 {
     stop_ = true;
-    terminate_cv_.notify_one();
+    terminate_cv_.notify_all();
 }
 
 bool HelloWorldServer::init(
@@ -64,6 +64,7 @@ bool HelloWorldServer::init(
     // Set SERVER's listening locator for PDP
     pqos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(server_address);
 
+    // CREATE THE PARTICIPANT
     participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
 
     if (participant_ == nullptr)
@@ -76,7 +77,10 @@ bool HelloWorldServer::init(
 
 HelloWorldServer::~HelloWorldServer()
 {
-    DomainParticipantFactory::get_instance()->delete_participant(participant_);
+    if (participant_ != nullptr)
+    {
+        DomainParticipantFactory::get_instance()->delete_participant(participant_);
+    }
 }
 
 void HelloWorldServer::run()

examples/C++/DDS/HelloWorldExampleDiscoveryServer/HelloWorldSubscriber.cpp

@@ -54,7 +54,7 @@ bool HelloWorldSubscriber::is_stopped()
 void HelloWorldSubscriber::stop()
 {
     stop_ = true;
-    terminate_cv_.notify_one();
+    terminate_cv_.notify_all();
 }
 
 bool HelloWorldSubscriber::init(
@@ -79,25 +79,26 @@ bool HelloWorldSubscriber::init(
     // Add remote SERVER to CLIENT's list of SERVERs
     pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
 
+    // CREATE THE PARTICIPANT
     participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
 
     if (participant_ == nullptr)
     {
         return false;
     }
 
-    //REGISTER THE TYPE
+    // REGISTER THE TYPE
     type_.register_type(participant_);
 
-    //CREATE THE SUBSCRIBER
+    // CREATE THE SUBSCRIBER
     subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT, nullptr);
 
     if (subscriber_ == nullptr)
     {
         return false;
     }
 
-    //CREATE THE TOPIC
+    // CREATE THE TOPIC
     topic_ = participant_->create_topic(
         topic_name,
         "HelloWorld",
@@ -126,19 +127,22 @@ bool HelloWorldSubscriber::init(
 
 HelloWorldSubscriber::~HelloWorldSubscriber()
 {
-    if (reader_ != nullptr)
+    if (participant_ != nullptr)
     {
-        subscriber_->delete_datareader(reader_);
-    }
-    if (topic_ != nullptr)
-    {
-        participant_->delete_topic(topic_);
-    }
-    if (subscriber_ != nullptr)
-    {
-        participant_->delete_subscriber(subscriber_);
+        if (topic_ != nullptr)
+        {
+            participant_->delete_topic(topic_);
+        }
+        if (subscriber_ != nullptr)
+        {
+            if (reader_ != nullptr)
+            {
+                subscriber_->delete_datareader(reader_);
+            }
+            participant_->delete_subscriber(subscriber_);
+        }
+        DomainParticipantFactory::get_instance()->delete_participant(participant_);
     }
-    DomainParticipantFactory::get_instance()->delete_participant(participant_);
 }
 
 void HelloWorldSubscriber::SubListener::set_max_messages(

examples/C++/DDS/HelloWorldExampleDiscoveryServer/HelloWorld_main.cpp

@@ -53,7 +53,6 @@ int main(
     columns = getenv("COLUMNS") ? atoi(getenv("COLUMNS")) : 80;
 #endif // if defined(_WIN32)
 
-    std::cout << "Starting " << std::endl;
     EntityType type = PUBLISHER;
     std::string topic_name = "HelloWorldTopic";
     int count = 0;
@@ -79,6 +78,7 @@ int main(
         {
             type = SERVER;
         }
+        // check if first argument is help, needed because we skip it when parsing
         else if (!(strcmp(argv[1], "-h") && strcmp(argv[1], "--help")))
         {
             option::printUsage(fwrite, stdout, usage, columns);