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Signed-off-by: tempate <[email protected]>
eProsima · Nov 22, 2023 · 9249a34 · 9249a34
1 parent a35f3d6
commit 9249a34
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Showing 2 changed files with 25 additions and 18 deletions.
diff --git a/fastddsspy_tool/src/cpp/tool/Backend.cpp b/fastddsspy_tool/src/cpp/tool/Backend.cpp
@@ -78,6 +78,31 @@ Backend::Backend(
         utils::Heritable<eprosima::ddspipe::core::types::DistributedTopic>::make_heritable(
             eprosima::ddspipe::core::types::type_object_topic()));
 
+    if (!configuration_.ddspipe_configuration.allowlist.empty())
+    {
+        // The allowlist is not empty. Add the internal topics.
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic type_object_topic;
+        type_object_topic.topic_name.set_value(eprosima::ddspipe::core::types::TYPE_OBJECT_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                type_object_topic));
+
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic participant_info_topic;
+        participant_info_topic.topic_name.set_value(participants::PARTICIPANT_INFO_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                participant_info_topic));
+
+        eprosima::ddspipe::core::types::WildcardDdsFilterTopic endpoint_info_topic;
+        endpoint_info_topic.topic_name.set_value(participants::ENDPOINT_INFO_TOPIC_NAME);
+
+        configuration_.ddspipe_configuration.allowlist.insert(
+            utils::Heritable<eprosima::ddspipe::core::types::WildcardDdsFilterTopic>::make_heritable(
+                endpoint_info_topic));
+    }
+
     // Create and initialize Pipe
     pipe_ = std::make_unique<ddspipe::core::DdsPipe>(
         configuration_.ddspipe_configuration,

diff --git a/fastddsspy_yaml/src/cpp/YamlReaderConfiguration.cpp b/fastddsspy_yaml/src/cpp/YamlReaderConfiguration.cpp
@@ -124,24 +124,6 @@ void Configuration::load_dds_configuration_(
     {
         ddspipe_configuration.allowlist = YamlReader::get_set<utils::Heritable<IFilterTopic>>(yml, ALLOWLIST_TAG,
                         version);
-
-        // Add to allowlist always the type object topic
-        WildcardDdsFilterTopic type_object_topic;
-        type_object_topic.topic_name.set_value(TYPE_OBJECT_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(type_object_topic));
-
-        // Add to allowlist always the participant info internal topic
-        WildcardDdsFilterTopic participant_info_topic;
-        participant_info_topic.topic_name.set_value(participants::PARTICIPANT_INFO_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(participant_info_topic));
-
-        // Add to allowlist always the endpoint info internal topic
-        WildcardDdsFilterTopic endpoint_info_topic;
-        endpoint_info_topic.topic_name.set_value(participants::ENDPOINT_INFO_TOPIC_NAME);
-        ddspipe_configuration.allowlist.insert(
-            utils::Heritable<WildcardDdsFilterTopic>::make_heritable(endpoint_info_topic));
     }
 
     /////