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Initial agent API

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This commit is contained in:
Antonio cuadros
2021-07-14 14:11:13 +02:00
parent 7f3f560bc7
commit 015343c4c8
3 changed files with 104 additions and 3 deletions
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micro_ros_agent/include/agent/Agent.hpp
+53
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@@ -38,14 +38,67 @@ public:
void run();
void add_callbacks();
private:
eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
void remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id); // TODO: check grap_manager on agent closing
};
template<typename AgentType>
class AgentAPI : Agent
{
public:
AgentAPI() : Agent(){};
~AgentAPI() = default;
void create(uint16_t port)
{
xrce_dds_agent_instance_API.configure(port);
add_callbacks();
}
void create(std::string dev, const std::string baudrate);
void create(std::vector<std::string> devs, const std::string baudrate);
void create(const std::string baudrate);
void run()
{
xrce_dds_agent_instance_API.run();
}
void stop()
{
xrce_dds_agent_instance_API.stop();
}
private:
eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
};
template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
{
xrce_dds_agent_instance_API.configure(dev, baudrate);
add_callbacks();
}
template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
{
xrce_dds_agent_instance_API.configure(devs, baudrate);
add_callbacks();
}
template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
{
xrce_dds_agent_instance_API.configure(baudrate);
add_callbacks();
}
} // namespace agent
} // namespace uros
#endif // _UROS_AGENT_AGENT_HPP