From 39e902e65a26f9316bc164540d4aa51b30164960 Mon Sep 17 00:00:00 2001
From: Irene Bandera <irenebandera@eprosima.com>
Date: Mon, 2 Sep 2024 12:14:58 +0200
Subject: [PATCH] Refactor DDS CommonParticipant to handle
 InitializationException in create_writer and create_reader

---
 .../participant/dds/CommonParticipant.hpp     |  2 ++
 .../cpp/participant/dds/CommonParticipant.cpp | 31 +++++++++++++++++--
 2 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp b/ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp
index 8523e5f1..53d6112e 100644
--- a/ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp
+++ b/ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp
@@ -94,6 +94,7 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
      * @brief Create a writer object
      *
      * Depending on the Topic QoS creates a Basic or Specific Writer.
+     * If it fails to create the writer it will return a blank one.
      */
     DDSPIPE_PARTICIPANTS_DllAPI
     std::shared_ptr<core::IWriter> create_writer(
@@ -103,6 +104,7 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
      * @brief Create a reader object
      *
      * Depending on the Topic QoS creates a Basic or Specific Reader.
+     * If it fails to create the reader it will return a blank one.
      */
     DDSPIPE_PARTICIPANTS_DllAPI
     std::shared_ptr<core::IReader> create_reader(
diff --git a/ddspipe_participants/src/cpp/participant/dds/CommonParticipant.cpp b/ddspipe_participants/src/cpp/participant/dds/CommonParticipant.cpp
index 4938252a..c5d360ef 100644
--- a/ddspipe_participants/src/cpp/participant/dds/CommonParticipant.cpp
+++ b/ddspipe_participants/src/cpp/participant/dds/CommonParticipant.cpp
@@ -254,8 +254,20 @@ std::shared_ptr<core::IWriter> CommonParticipant::create_writer(
         return std::make_shared<BlankWriter>();
     }
 
-    // Get the DDS Topic associated (create it if it does not exist)
-    fastdds::dds::Topic* fastdds_topic = topic_related_(dds_topic);
+    fastdds::dds::Topic* fastdds_topic;
+    try
+    {
+        // Get the DDS Topic associated (create it if it does not exist)
+        fastdds_topic = topic_related_(dds_topic);
+    }
+    catch (const utils::InitializationException& e)
+    {
+        EPROSIMA_LOG_WARNING(
+            DDSPIPE_DDS_PARTICIPANT,
+            e.what()
+                << " Execution continue but this topic will not be published in Participant " << id() << ".");
+        return std::make_shared<BlankWriter>();
+    }
 
     if (dds_topic.topic_qos.has_partitions() || dds_topic.topic_qos.has_ownership())
     {
@@ -303,7 +315,20 @@ std::shared_ptr<core::IReader> CommonParticipant::create_reader(
     }
 
     // Get the DDS Topic associated (create it if it does not exist)
-    fastdds::dds::Topic* fastdds_topic = topic_related_(dds_topic);
+    fastdds::dds::Topic* fastdds_topic;
+    try
+    {
+        // Get the DDS Topic associated (create it if it does not exist)
+        fastdds_topic = topic_related_(dds_topic);
+    }
+    catch (const utils::InitializationException& e)
+    {
+        EPROSIMA_LOG_WARNING(
+            DDSPIPE_DDS_PARTICIPANT,
+            e.what()
+                << ". Execution continue but this topic will not be subscribed in Participant " << id() << ".");
+        return std::make_shared<BlankReader>();
+    }
 
     if (dds_topic.topic_qos.has_partitions() || dds_topic.topic_qos.has_ownership())
     {