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Fix graph manager node namespaces (#75) (#76)

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* Fix graph manager node namespaces

* Update

(cherry picked from commit f6a2aa3b60)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
mergify[bot]
2021-07-02 13:42:03 +02:00
committed by GitHub
co-authored by Pablo Garrido
parent 9d3fbc63a0
commit 6047f7135d
2 changed files with 59 additions and 29 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+12
View File
@@ -292,6 +292,18 @@ private:
*/
void update_node_entities_info();
/**
* @brief Retrieves node name and namespace from
* participant.
* @param participant_name DDS participant name.
* @param node_name ROS2 Node name.
* @param namespace ROS2 Node namespace.
*/
void get_name_and_namespace(
std::string participant_name,
std::string& node_name,
std::string& node_namespace);
eprosima::fastdds::dds::DomainId_t domain_id_;
bool graph_changed_;
bool display_on_change_;
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+47 -29
View File
@@ -37,6 +37,8 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
, microros_graph_info_typesupport_(std::make_unique<
eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
{
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
// Create DomainParticipant
eprosima::fastdds::dds::DomainParticipantQos participant_qos =
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
@@ -309,33 +311,8 @@ void GraphManager::add_participant(
if (node_name != enclave) // Do not add root node
{
// Split node name in domain and node name
std::istringstream iss(node_name);
std::vector<std::string> result;
std::string token;
while(std::getline(iss, token, '/'))
{
result.push_back(token);
}
std::string isolated_node_name = "";
std::string isolated_namespace = "";
if (result.size() > 1)
{
isolated_namespace = result[0];
for (size_t i = 1; i < result.size(); i++)
{
isolated_node_name.append(result[i] + "/");
}
isolated_node_name.pop_back();
}
else
{
isolated_node_name = node_name;
isolated_namespace = "";
}
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(node_name, isolated_node_name, isolated_namespace);
rmw_dds_common::msg::ParticipantEntitiesInfo info =
graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
@@ -477,14 +454,18 @@ void GraphManager::associate_entity(
{
case dds::xrce::OBJK_DATAWRITER:
{
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
info = graphCache_.associate_writer(
entity_gid, participant_gid, qos.name().c_str(), enclave_);
entity_gid, participant_gid, isolated_node_name, isolated_namespace);
break;
}
case dds::xrce::OBJK_DATAREADER:
{
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
info = graphCache_.associate_reader(
entity_gid, participant_gid, qos.name().c_str(), enclave_);
entity_gid, participant_gid, isolated_node_name, isolated_namespace);
break;
}
default:
@@ -584,6 +565,43 @@ void GraphManager::update_node_entities_info()
}
}
void GraphManager::get_name_and_namespace(
std::string participant_name,
std::string& node_name,
std::string& node_namespace)
{
// Remove first / if exists
if (participant_name.rfind("/", 0) == 0)
{
participant_name.erase(participant_name.begin());
}
// Split node name in domain and node name
std::istringstream iss(participant_name);
std::vector<std::string> result;
std::string token;
while(std::getline(iss, token, '/'))
{
result.push_back(token);
}
if (result.size() > 1)
{
node_namespace = "/" + result[0];
for (size_t i = 1; i < result.size(); i++)
{
node_name.append(result[i] + "/");
}
node_name.pop_back();
}
else
{
node_name = participant_name;
node_namespace = "/";
}
}
GraphManager::ParticipantListener::ParticipantListener(
GraphManager* graph_manager)
: eprosima::fastdds::dds::DomainParticipantListener()