mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 18:05:17 +02:00
* Add services to graph manager (#127) Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit6d67807737) * Revert "Add services to graph manager (#127)" This reverts commit3738c3b121. * Fix incompatibilities Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
mergify[bot]
co-authored by
Pablo Garrido
Pablo Garrido
parent
2326a201bc
commit
726692af04
@@ -169,6 +169,149 @@ bool Agent::create(
|
|||||||
eprosima::uxr::Middleware::Kind::FASTDDS,
|
eprosima::uxr::Middleware::Kind::FASTDDS,
|
||||||
eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
|
eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
|
||||||
std::move(on_delete_datareader));
|
std::move(on_delete_datareader));
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Add CREATE_REQUESTER callback.
|
||||||
|
*/
|
||||||
|
std::function<void (
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant *,
|
||||||
|
const eprosima::fastdds::dds::DataWriter *,
|
||||||
|
const eprosima::fastdds::dds::DataReader *)> on_create_requester
|
||||||
|
([&](
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant* participant,
|
||||||
|
const eprosima::fastdds::dds::DataWriter* datawriter,
|
||||||
|
const eprosima::fastdds::dds::DataReader * datareader) -> void
|
||||||
|
{
|
||||||
|
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
|
||||||
|
datawriter->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
|
||||||
|
|
||||||
|
graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
|
||||||
|
graph_manager_->associate_entity(
|
||||||
|
datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
|
||||||
|
datareader->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
|
||||||
|
graph_manager_->add_datareader(datareader_guid, participant, datareader);
|
||||||
|
graph_manager_->associate_entity(
|
||||||
|
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
|
||||||
|
});
|
||||||
|
xrce_dds_agent_instance_.add_middleware_callback(
|
||||||
|
eprosima::uxr::Middleware::Kind::FASTDDS,
|
||||||
|
eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
|
||||||
|
std::move(on_create_requester));
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Add DELETE_REQUESTER callback.
|
||||||
|
*/
|
||||||
|
std::function<void (
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant *,
|
||||||
|
const eprosima::fastdds::dds::DataWriter *,
|
||||||
|
const eprosima::fastdds::dds::DataReader *)> on_delete_requester
|
||||||
|
([&](
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant* participant,
|
||||||
|
const eprosima::fastdds::dds::DataWriter* datawriter,
|
||||||
|
const eprosima::fastdds::dds::DataReader * datareader) -> void
|
||||||
|
{
|
||||||
|
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
|
||||||
|
datawriter->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
|
||||||
|
graph_manager_->remove_datawriter(datawriter_guid);
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
|
||||||
|
datareader->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
|
||||||
|
graph_manager_->remove_datareader(datareader_guid);
|
||||||
|
});
|
||||||
|
|
||||||
|
xrce_dds_agent_instance_.add_middleware_callback(
|
||||||
|
eprosima::uxr::Middleware::Kind::FASTDDS,
|
||||||
|
eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
|
||||||
|
std::move(on_delete_requester));
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Add CREATE_REPLIER callback.
|
||||||
|
*/
|
||||||
|
std::function<void (
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant *,
|
||||||
|
const eprosima::fastdds::dds::DataWriter *,
|
||||||
|
const eprosima::fastdds::dds::DataReader *)> on_create_replier
|
||||||
|
([&](
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant* participant,
|
||||||
|
const eprosima::fastdds::dds::DataWriter* datawriter,
|
||||||
|
const eprosima::fastdds::dds::DataReader * datareader) -> void
|
||||||
|
{
|
||||||
|
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
|
||||||
|
datawriter->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
|
||||||
|
graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
|
||||||
|
graph_manager_->associate_entity(
|
||||||
|
datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
|
||||||
|
datareader->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
|
||||||
|
graph_manager_->add_datareader(datareader_guid, participant, datareader);
|
||||||
|
graph_manager_->associate_entity(
|
||||||
|
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
|
||||||
|
});
|
||||||
|
xrce_dds_agent_instance_.add_middleware_callback(
|
||||||
|
eprosima::uxr::Middleware::Kind::FASTDDS,
|
||||||
|
eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
|
||||||
|
std::move(on_create_replier));
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Add DELETE_REPLIER callback.
|
||||||
|
*/
|
||||||
|
std::function<void (
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant *,
|
||||||
|
const eprosima::fastdds::dds::DataWriter *,
|
||||||
|
const eprosima::fastdds::dds::DataReader *)> on_delete_replier
|
||||||
|
([&](
|
||||||
|
const eprosima::fastdds::dds::DomainParticipant* participant,
|
||||||
|
const eprosima::fastdds::dds::DataWriter* datawriter,
|
||||||
|
const eprosima::fastdds::dds::DataReader * datareader) -> void
|
||||||
|
{
|
||||||
|
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
|
||||||
|
datawriter->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
|
||||||
|
graph_manager_->remove_datawriter(datawriter_guid);
|
||||||
|
|
||||||
|
// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
|
||||||
|
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
|
||||||
|
datareader->get_instance_handle();
|
||||||
|
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
|
||||||
|
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
|
||||||
|
graph_manager_->remove_datareader(datareader_guid);
|
||||||
|
});
|
||||||
|
|
||||||
|
xrce_dds_agent_instance_.add_middleware_callback(
|
||||||
|
eprosima::uxr::Middleware::Kind::FASTDDS,
|
||||||
|
eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
|
||||||
|
std::move(on_delete_replier));
|
||||||
}
|
}
|
||||||
|
|
||||||
return result;
|
return result;
|
||||||
|
|||||||
Reference in New Issue
Block a user