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Signed-off-by: tempate <danieldiaz@eprosima.com>

ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp

@@ -18,7 +18,6 @@
 
 #include <ddspipe_core/communication/Bridge.hpp>
 #include <ddspipe_core/communication/dds/Track.hpp>
-#include <ddspipe_core/configuration/DdsPipeConfiguration.hpp>
 #include <ddspipe_core/configuration/RoutesConfiguration.hpp>
 #include <ddspipe_core/types/dds/Endpoint.hpp>
 #include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
@@ -52,7 +51,10 @@ class DdsBridge : public Bridge
  * @param participant_database: Collection of Participants to manage communication
  * @param payload_pool: Payload Pool that handles the reservation/release of payloads throughout the DDS Router
  * @param thread_pool: Shared pool of threads in charge of data transmission.
- * @param enable: Whether the Bridge should be initialized as enabled
+ * @param routes_config: Configuration of the routes of the Bridge
+ * @param remove_unused_entities: Whether the Bridge should remove unused entities
+ * @param manual_topics: Topics that explicitally set a QoS attribute for this participant
+ * @param endpoint_kind: Kind of the endpoint that discovered the topic
  *
  * @throw InitializationException in case \c IWriters or \c IReaders creation fails.
  */
@@ -200,6 +202,8 @@ class DdsBridge : public Bridge
  * @brief Impose the Topic QoS that have been pre-configured for a participant.
  *
  * First, it imposes the Topic QoS configured at \c manual_topics and then the ones configured at \c participants.
+ *
+ * @param participant: The participant to impose the QoS on.
  */
  utils::Heritable<types::DistributedTopic> create_topic_for_participant_nts_(
  const std::shared_ptr<IParticipant>& participant) noexcept;

ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp

@@ -261,6 +261,7 @@ class DdsPipe
  * @note This is the only method that adds topics to \c current_topics_
  *
  * @param [in] topic : topic discovered
+ * @param [in] endpoint_kind : kind of the endpoint
  */
  void discovered_topic_nts_(
  const utils::Heritable<types::DistributedTopic>& topic,
@@ -303,11 +304,12 @@ class DdsPipe
  * It is created enabled if the DdsPipe is enabled.
  *
  * @param [in] topic : new topic
+ * @param [in] enabled : whether to enable the bridge on creation or not
  */
  void create_new_bridge_nts_(
  const utils::Heritable<types::DistributedTopic>& topic,
- bool enabled = false,
- const types::EndpointKind& endpoint_kind = types::EndpointKind::reader) noexcept;
+ const types::EndpointKind endpoint_kind = types::EndpointKind::reader,
+ bool enabled = false) noexcept;
 
  /**
  * @brief Create a new \c RpcBridge object
@@ -325,6 +327,7 @@ class DdsPipe
  * If the topic did not exist before, the Bridge is created.
  *
  * @param [in] topic : Topic to be enabled
+ * @param [in] endpoint_kind : Kind of endpoint who discovered the topic
  */
  void activate_topic_nts_(
  const utils::Heritable<types::DistributedTopic>& topic,

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

@@ -110,13 +110,17 @@ void DdsBridge::create_endpoint(
 {
  std::lock_guard<std::mutex> lock(mutex_);
 
- if (discovered_endpoint_kind == EndpointKind::reader)
+ switch (discovered_endpoint_kind)
  {
- create_writer_and_its_tracks_nts_(participant_id);
- }
- else
- {
- create_reader_and_its_track_nts_(participant_id);
+ case EndpointKind::reader:
+ create_writer_and_its_tracks_nts_(participant_id);
+ break;
+ case EndpointKind::writer:
+ create_reader_and_its_track_nts_(participant_id);
+ break;
+ default:
+ logError(DDSPIPE_DDSBRIDGE, "Invalid kind " << discovered_endpoint_kind << " to create an endpoint.");
+ break;
  }
 }
 
@@ -126,13 +130,17 @@ void DdsBridge::remove_endpoint(
 {
  std::lock_guard<std::mutex> lock(mutex_);
 
- if (removed_endpoint_kind == EndpointKind::reader)
- {
- remove_writer_and_its_tracks_nts_(participant_id);
- }
- else
+ switch (removed_endpoint_kind)
  {
- remove_reader_and_its_track_nts_(participant_id);
+ case EndpointKind::reader:
+ remove_writer_and_its_tracks_nts_(participant_id);
+ break;
+ case EndpointKind::writer:
+ remove_reader_and_its_track_nts_(participant_id);
+ break;
+ default:
+ logError(DDSPIPE_DDSBRIDGE, "Invalid kind " << removed_endpoint_kind << " to remove an endpoint.");
+ break;
  }
 }
 
@@ -196,15 +204,16 @@ void DdsBridge::remove_writer_and_its_tracks_nts_(
  assert(participant_id != DEFAULT_PARTICIPANT_ID);
 
  // Remove the writer from the tracks and remove the tracks without writers
- for (const auto& track_it : tracks_)
+ for (auto it = tracks_.cbegin(), next_it = it; it != tracks_.cend(); it = next_it)
  {
- auto& track = track_it.second;
+ ++next_it;
+ const auto& track = it->second;
 
  track->remove_writer(participant_id);
 
  if (!track->has_writers())
  {
- tracks_.erase(track_it.first);
+ tracks_.erase(it);
  }
  }
 

ddspipe_core/src/cpp/core/DdsPipe.cpp

@@ -390,13 +390,13 @@ bool DdsPipe::is_endpoint_relevant_(
 
  if (endpoint.active)
  {
- // An active reader is relevant when it is the only active reader in a topic
+ // An active endpoint is relevant when it is the only active endpoint in a topic
  // with a discoverer participant id.
  return relevant_endpoints.size() == 1 && relevant_endpoints.count(endpoint.guid);
  }
  else
  {
- // An inactive reader is relevant when there aren't any active readers in a topic
+ // An inactive endpoint is relevant when there aren't any active endpoints in a topic
  // with a discoverer participant id.
  return relevant_endpoints.size() == 0;
  }
@@ -408,7 +408,7 @@ void DdsPipe::init_bridges_nts_(
  for (const auto& topic : builtin_topics)
  {
  discovered_topic_nts_(topic);
- create_new_bridge_nts_(topic, false);
+ create_new_bridge_nts_(topic, EndpointKind::reader, false);
  }
 }
 
@@ -486,8 +486,8 @@ void DdsPipe::removed_service_nts_(
 
 void DdsPipe::create_new_bridge_nts_(
  const utils::Heritable<DistributedTopic>& topic,
- bool enabled, /*= false*/
- const EndpointKind& endpoint_kind /*= EndpointKind::reader*/) noexcept
+ const EndpointKind endpoint_kind /*= EndpointKind::reader*/,
+ bool enabled /*= false*/) noexcept
 {
  logInfo(DDSPIPE, "Creating Bridge for topic: " << topic << ".");
 
@@ -545,7 +545,7 @@ void DdsPipe::activate_topic_nts_(
  if (it_bridge == bridges_.end())
  {
  // The Bridge did not exist
- create_new_bridge_nts_(topic, true, endpoint_kind);
+ create_new_bridge_nts_(topic, endpoint_kind, true);
  }
  else
  {