avoid using dds common public mutex directly (#134)

* avoid using other component public mutex directly * initialize publish_callback once Signed-off-by: Chen Lihui <[email protected]>
ros2 · Nov 3, 2023 · f0cdb72 · f0cdb72
1 parent c7c6cc7
commit f0cdb72
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Showing 3 changed files with 64 additions and 139 deletions.
diff --git a/rmw_connextdds_common/include/rmw_connextdds/context.hpp b/rmw_connextdds_common/include/rmw_connextdds/context.hpp
@@ -47,6 +47,7 @@ struct rmw_context_impl_s
 {
 public:
   rmw_dds_common::Context common;
+  std::mutex common_mutex;
   rmw_context_t * base;
 
   DDS_DomainId_t domain_id;

diff --git a/rmw_connextdds_common/include/rmw_connextdds/graph_cache.hpp b/rmw_connextdds_common/include/rmw_connextdds/graph_cache.hpp
@@ -29,8 +29,8 @@ rmw_connextdds_graph_finalize(rmw_context_impl_t * const ctx);
 
 rmw_ret_t
 rmw_connextdds_graph_publish_update(
-  rmw_context_impl_t * const ctx,
-  void * const msg);
+  const rmw_publisher_t * const ctx,
+  const void * const msg);
 
 rmw_ret_t
 rmw_connextdds_graph_on_node_created(