Keep reference to DomainParticipantFactory (#770)

* Keep reference to factory in `CustomParticipantInfo`. * Change other references to `DomainParticipantFactory::get_instance()`. Signed-off-by: Miguel Company <[email protected]>
ros2 · Oct 14, 2024 · 9d2150f · 9d2150f
1 parent 5cb7665
commit 9d2150f
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
@@ -24,6 +24,7 @@
 #include <vector>
 
 #include "fastdds/dds/domain/DomainParticipant.hpp"
+#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
 #include "fastdds/dds/domain/DomainParticipantListener.hpp"
 #include "fastdds/dds/publisher/Publisher.hpp"
 #include "fastdds/dds/subscriber/Subscriber.hpp"
@@ -91,6 +92,9 @@ typedef struct UseCountTopic
 
 typedef struct CustomParticipantInfo
 {
+  std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_ =
+    eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
+
   eprosima::fastdds::dds::DomainParticipant * participant_{nullptr};
   ParticipantListener * listener_{nullptr};
 

diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -73,8 +73,7 @@ __create_participant(
     [participant_info]() {
       if (nullptr != participant_info->participant_) {
         participant_info->participant_->delete_publisher(participant_info->publisher_);
-        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(
-          participant_info->participant_);
+        participant_info->factory_->delete_participant(participant_info->participant_);
       }
       delete participant_info->listener_;
       delete participant_info;
@@ -99,7 +98,7 @@ __create_participant(
   eprosima::fastdds::dds::StatusMask participant_mask = eprosima::fastdds::dds::StatusMask::none();
 
   participant_info->participant_ =
-    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_participant(
+    participant_info->factory_->create_participant(
     static_cast<uint32_t>(domain_id), domainParticipantQos,
     participant_info->listener_, participant_mask);
 
@@ -159,9 +158,9 @@ rmw_fastrtps_shared_cpp::create_participant(
   }
 
   // Load default XML profile.
-  eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
-  eprosima::fastdds::dds::DomainParticipantQos domainParticipantQos =
-    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
+  auto factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
+  factory->load_profiles();
+  auto domainParticipantQos = factory->get_default_participant_qos();
 
   // Configure discovery
   switch (discovery_options->automatic_discovery_range) {
@@ -432,8 +431,7 @@ rmw_fastrtps_shared_cpp::destroy_participant(CustomParticipantInfo * participant
   }
 
   // Delete Domain Participant
-  ret =
-    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(
+  ret = participant_info->factory_->delete_participant(
     participant_info->participant_);
 
   if (ReturnCode_t::RETCODE_OK != ret) {