From 9f73c6a345e0dc43bdef387973dbbb5d9bff2378 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 28 Mar 2023 04:36:50 +0200
Subject: [PATCH] Fix: always create port/List.1.0 publisher. (#221)

If Publishers/Subscriptions/etc. are created as global static objects the order of initialisation is not clear. Hence it could happen that Publisher IDs are not probably registered.
---
 .../host-example-01-opencyphal-basic-node.cpp             | 2 --
 src/Node.cpp                                              | 8 ++------
 src/Node.hpp                                              | 3 ---
 3 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp b/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp
index 6d4fc84f..68fb2e6c 100644
--- a/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp
+++ b/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp
@@ -58,8 +58,6 @@ int main(int argc, char ** argv)
   Node node_hdl(node_heap.data(), node_heap.size(), micros, [socket_can_fd] (CanardFrame const & frame) { return (socketcanPush(socket_can_fd, &frame, 1000*1000UL) > 0); });
   std::mutex node_mtx;
 
-  PortListPublisher port_list_pub = node_hdl.create_port_list_publisher();
-
   Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>
     (1*1000*1000UL /* = 1 sec in usecs. */);
 
diff --git a/src/Node.cpp b/src/Node.cpp
index f45f557c..c4cf1355 100644
--- a/src/Node.cpp
+++ b/src/Node.cpp
@@ -40,18 +40,14 @@ Node::Node(uint8_t * heap_ptr,
 {
   _canard_hdl.node_id = node_id;
   _canard_hdl.user_reference = static_cast<void *>(_o1heap_ins);
+
+  _opt_port_list_pub = std::make_shared<impl::PortListPublisher>(*this, _micros_func);
 }
 
 /**************************************************************************************
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
 
-PortListPublisher Node::create_port_list_publisher()
-{
-  _opt_port_list_pub = std::make_shared<impl::PortListPublisher>(*this, _micros_func);
-  return _opt_port_list_pub.value();
-}
-
 #if __GNUC__ >= 11
 Registry Node::create_registry()
 {
diff --git a/src/Node.hpp b/src/Node.hpp
index f04e9ca7..95ccaad8 100644
--- a/src/Node.hpp
+++ b/src/Node.hpp
@@ -76,9 +76,6 @@ class Node
   inline CanardNodeID getNodeId() const { return _canard_hdl.node_id; }
 
 
-  PortListPublisher create_port_list_publisher();
-
-
   template <typename T>
   Publisher<T> create_publisher(CanardMicrosecond const tx_timeout_usec);
   template <typename T>