From c41ee5acacfd194c206f8e64caf0567e5c7030cb Mon Sep 17 00:00:00 2001
From: yuanyuyuan <az6980522@gmail.com>
Date: Fri, 22 Nov 2024 17:08:31 +0800
Subject: [PATCH] Reapply "Don't shutdown contained entities. (#313)"

This reverts commit 2e3ad436aabf411e4463f169b444714e40af6d67.
---
 .../src/detail/rmw_context_impl_s.cpp         | 13 -----
 rmw_zenoh_cpp/src/detail/rmw_node_data.cpp    | 50 -------------------
 2 files changed, 63 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index 2cff857c..94dcd070 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -246,19 +246,6 @@ class rmw_context_impl_s::Data final
         return ret;
       }
 
-      // Shutdown all the nodes in this context.
-      for (auto node_it = nodes_.begin(); node_it != nodes_.end(); ++node_it) {
-        ret = node_it->second->shutdown();
-        if (ret != RMW_RET_OK) {
-          RMW_ZENOH_LOG_ERROR_NAMED(
-            "rmw_zenoh_cpp",
-            "Unable to shutdown node with id %zu. rmw_ret_t code: %zu.",
-            node_it->second->id(),
-            ret
-          );
-        }
-      }
-
       z_undeclare_subscriber(z_move(graph_subscriber_));
       if (shm_provider_.has_value()) {
         z_drop(z_move(shm_provider_.value()));
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index 24f2c1f0..96d95191 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -401,56 +401,6 @@ rmw_ret_t NodeData::shutdown()
     return ret;
   }
 
-  // Shutdown all the entities within this node.
-  for (auto pub_it = pubs_.begin(); pub_it != pubs_.end(); ++pub_it) {
-    ret = pub_it->second->shutdown();
-    if (ret != RMW_RET_OK) {
-      RMW_ZENOH_LOG_ERROR_NAMED(
-        "rmw_zenoh_cpp",
-        "Unable to shutdown publisher %s within id %zu. rmw_ret_t code: %zu.",
-        pub_it->second->topic_info().name_.c_str(),
-        id_,
-        ret
-      );
-    }
-  }
-  for (auto sub_it = subs_.begin(); sub_it != subs_.end(); ++sub_it) {
-    ret = sub_it->second->shutdown();
-    if (ret != RMW_RET_OK) {
-      RMW_ZENOH_LOG_ERROR_NAMED(
-        "rmw_zenoh_cpp",
-        "Unable to shutdown subscription %s within id %zu. rmw_ret_t code: %zu.",
-        sub_it->second->topic_info().name_.c_str(),
-        id_,
-        ret
-      );
-    }
-  }
-  for (auto srv_it = services_.begin(); srv_it != services_.end(); ++srv_it) {
-    ret = srv_it->second->shutdown();
-    if (ret != RMW_RET_OK) {
-      RMW_ZENOH_LOG_ERROR_NAMED(
-        "rmw_zenoh_cpp",
-        "Unable to shutdown service %s within id %zu. rmw_ret_t code: %zu.",
-        srv_it->second->topic_info().name_.c_str(),
-        id_,
-        ret
-      );
-    }
-  }
-  for (auto cli_it = clients_.begin(); cli_it != clients_.end(); ++cli_it) {
-    ret = cli_it->second->shutdown();
-    if (ret != RMW_RET_OK) {
-      RMW_ZENOH_LOG_ERROR_NAMED(
-        "rmw_zenoh_cpp",
-        "Unable to shutdown client %s within id %zu. rmw_ret_t code: %zu.",
-        cli_it->second->topic_info().name_.c_str(),
-        id_,
-        ret
-      );
-    }
-  }
-
   // Unregister this node from the ROS graph.
   zc_liveliness_undeclare_token(z_move(token_));