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Fix graph manager datawriters

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Fixes


Fix


Fix destruction
This commit is contained in:
Pablo Garrido
2021-07-09 13:13:33 +02:00
parent 95fecd77ae
commit 2847a2ebc3
3 changed files with 119 additions and 121 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+20 -17
View File
@@ -89,28 +89,22 @@ public:
/**
* @brief Adds a DDS participant to the graph tree.
* @param participant Pointer to the participant to be added to the graph.
*/
void add_participant(
const eprosima::fastdds::dds::DomainParticipant* participant);
/**
* @brief Adds a DDS participant to the graph tree.
* @param guid rtps::GUID_t of the participant to be added.
* @param node_name Name of the ROS 2 node associated to the given participant.
* @param participant eprosima::fastdds::dds::DomainParticipant to be added.
* @param from_microros if this participant has been added from micro-ROS.
* @param enclave ROS 2 enclave.
*/
void add_participant(
const eprosima::fastrtps::rtps::GUID_t& guid,
const std::string& node_name,
const std::string& enclave);
eprosima::fastdds::dds::DomainParticipant* participant,
bool from_microros = true,
const std::string& enclave = "/");
/**
* @brief Removes a DDS participant from the graph tree.
* @param guid rtps::GUID_t of the participant to be removed.
* @param participant eprosima::fastdds::dds::DomainParticipant to be removed.
*/
void remove_participant(
const eprosima::fastrtps::rtps::GUID_t& guid);
eprosima::fastdds::dds::DomainParticipant* participant,
bool from_microros = true);
/**
* @brief Adds a DDS datawriter to the graph tree.
@@ -186,7 +180,7 @@ public:
*/
void associate_entity(
const eprosima::fastrtps::rtps::GUID_t& entity_guid,
const eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastdds::dds::DomainParticipant* participant,
const dds::xrce::ObjectKind& entity_kind);
private:
@@ -277,11 +271,12 @@ private:
eprosima::fastdds::dds::DomainId_t domain_id_;
bool graph_changed_;
bool display_on_change_;
const char * enclave_;
std::thread microros_graph_publisher_;
std::mutex mtx_;
std::condition_variable cv_;
eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
rmw_dds_common::GraphCache graphCache_;
std::unique_ptr<ParticipantListener> participant_listener_;
std::unique_ptr<DatareaderListener> datareader_listener_;
@@ -293,9 +288,17 @@ private:
std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_discovery_datawriter_;
std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
// Store a auxiliary publishers and datawriter for each participant created in micro-ROS
std::map<
eprosima::fastdds::dds::DomainParticipant*,
std::pair<
std::unique_ptr<eprosima::fastdds::dds::Publisher>,
std::unique_ptr<eprosima::fastdds::dds::DataWriter>
>
> micro_ros_graph_datawriters_;
};
} // namespace graph_manager