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microRTPS: agent: fix double free memory problem on SIGINT

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It fixes also some minor issues when exiting the agent, including the printed stats
This commit is contained in:
TSC21
2021-06-21 16:36:44 +02:00
committed by Nuno Marques
parent 6d5f12d2a2
commit d3a23cee40
6 changed files with 50 additions and 65 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+3 -3
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@@ -98,7 +98,7 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
}
@[if send_topics]@
void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
{
switch (topic_ID) {
@[for topic in send_topics]@
@@ -109,7 +109,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
st.deserialize(cdr_des);
@[ if topic == 'Timesync' or topic == 'timesync']@
_timesync->processTimesyncMsg(&st);
_timesync->processTimesyncMsg(&st, &_@(topic)_pub);
if (getMsgSysID(&st) == 1) {
@[ end if]@
@@ -130,7 +130,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
@[end for]@
default:
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to publish Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
printf("\033[1;33m[ micrortps_agent ]\tUnexpected topic ID '%hhu' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
topic_ID, topic_ID);
break;
}