Make the deletion of unused entities configurable

Signed-off-by: tempate <[email protected]>
eProsima · Sep 4, 2023 · cfae235 · cfae235
1 parent 5496aa4
commit cfae235
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp b/ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp
@@ -67,6 +67,7 @@ class DdsPipe
             const std::shared_ptr<PayloadPool>& payload_pool,
             const std::shared_ptr<ParticipantsDatabase>& participants_database,
             const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
+            const bool delete_unused_entities,
             const std::set<utils::Heritable<types::DistributedTopic>>& builtin_topics = {},
             bool start_enable = false,
             const RoutesConfiguration& routes_config = {},
@@ -367,6 +368,9 @@ class DdsPipe
     //! Custom forwarding routes per topic
     TopicRoutesConfiguration topic_routes_config_;
 
+    //! Whether readers that aren't connected to any writers should be deleted
+    bool delete_unused_entities_;
+
     /////
     // AUXILIAR VARIABLES
 

diff --git a/ddspipe_core/src/cpp/core/DdsPipe.cpp b/ddspipe_core/src/cpp/core/DdsPipe.cpp
@@ -34,6 +34,7 @@ DdsPipe::DdsPipe(
         const std::shared_ptr<PayloadPool>& payload_pool,
         const std::shared_ptr<ParticipantsDatabase>& participants_database,
         const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
+        const bool delete_unused_entities,
         const std::set<utils::Heritable<DistributedTopic>>& builtin_topics, /* = {} */
         bool start_enable, /* = false */
         const RoutesConfiguration& routes_config, /* = {} */
@@ -43,6 +44,7 @@ DdsPipe::DdsPipe(
     , payload_pool_(payload_pool)
     , participants_database_(participants_database)
     , thread_pool_(thread_pool)
+    , delete_unused_entities_(delete_unused_entities)
     , enabled_(false)
     , routes_config_(routes_config)
     , topic_routes_config_(topic_routes_config)
@@ -324,7 +326,7 @@ void DdsPipe::removed_endpoint_nts_(
                     "Error finding Bridge for topic " << topic <<
                     ". The Bridge does not exist.");
         }
-        else
+        else if (delete_unused_entities_)
         {
             it_bridge->second->remove_from_tracks(endpoint.discoverer_participant_id);
         }

diff --git a/ddspipe_yaml/include/ddspipe_yaml/yaml_configuration_tags.hpp b/ddspipe_yaml/include/ddspipe_yaml/yaml_configuration_tags.hpp
@@ -135,6 +135,7 @@ constexpr const char* MAX_HISTORY_DEPTH_TAG("max-depth"); //! Maximum size (numb
 constexpr const char* DOWNSAMPLING_TAG("downsampling"); //! Keep 1 out of every *downsampling* samples received
 constexpr const char* MAX_RECEPTION_RATE_TAG("max-reception-rate"); //! Process up to *max_reception_rate* samples in a 1 second bin
 constexpr const char* WAIT_ALL_ACKED_TIMEOUT_TAG("wait-all-acked-timeout"); //! Wait for a maximum of *wait-all-acked-timeout* ms until all msgs sent by reliable writers are acknowledged by their matched readers
+constexpr const char* DELETE_UNUSED_ENTITIES_TAG("delete-unused-entities"); //! Delete the unused entities and tracks.
 
 // XML configuration tags
 constexpr const char* XML_TAG("xml"); //! Tag to read xml configuration