Update agent as singleton

micro_ros_agent/include/agent/Agent.hpp

@@ -26,11 +26,21 @@ namespace agent {
 
 class Agent
 {
-public:
+private:
-
     Agent();
 
-    ~Agent() = default;
+    Agent(const Agent &) = delete;
+
+    Agent(Agent &&) = delete;
+
+    Agent& operator =(
+            const Agent &) = delete;
+
+    Agent& operator =(
+            Agent &&) = delete;
+
+public:
+    static Agent& getInstance();
 
     bool create(
             int argc,

micro_ros_agent/src/agent/Agent.cpp

@@ -23,152 +23,154 @@ namespace agent {
 Agent::Agent()
     : xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
 {
+    /**
+     * Add CREATE_PARTICIPANT callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *)> on_create_participant
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant) -> void
+        {
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+            graph_manager_->add_participant(participant);
+        });
+    xrce_dds_agent_instance_.add_middleware_callback(
+        eprosima::uxr::Middleware::Kind::FASTDDS,
+        eprosima::uxr::middleware::CallbackKind::CREATE_PARTICIPANT,
+        std::move(on_create_participant));
+
+    /**
+     * Add REMOVE_PARTICIPANT callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *)> on_delete_participant
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant) -> void
+        {
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+            graph_manager_->remove_participant(participant);
+        });
+    xrce_dds_agent_instance_.add_middleware_callback(
+        eprosima::uxr::Middleware::Kind::FASTDDS,
+        eprosima::uxr::middleware::CallbackKind::DELETE_PARTICIPANT,
+        std::move(on_delete_participant));
+
+    /**
+     * Add CREATE_DATAWRITER callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *,
+        const eprosima::fastdds::dds::DataWriter *)> on_create_datawriter
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataWriter* datawriter) -> void
+        {
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+            // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+            const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                datawriter->get_instance_handle();
+            const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                iHandle2GUID(instance_handle);
+            graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+            graph_manager_->associate_entity(
+                datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+        });
+    xrce_dds_agent_instance_.add_middleware_callback(
+        eprosima::uxr::Middleware::Kind::FASTDDS,
+        eprosima::uxr::middleware::CallbackKind::CREATE_DATAWRITER,
+        std::move(on_create_datawriter));
+
+    /**
+     * Add DELETE_DATAWRITER callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *,
+        const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataWriter* datawriter) -> void
+        {
+
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+            // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+            const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                datawriter->get_instance_handle();
+            const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+            graph_manager_->remove_datawriter(datawriter_guid);
+        });
+
+    xrce_dds_agent_instance_.add_middleware_callback(
+        eprosima::uxr::Middleware::Kind::FASTDDS,
+        eprosima::uxr::middleware::CallbackKind::DELETE_DATAWRITER,
+        std::move(on_delete_datawriter));
+
+    /**
+     * Add CREATE_DATAREADER callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *,
+        const eprosima::fastdds::dds::DataReader*)> on_create_datareader
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataReader* datareader) -> void
+        {
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+            // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+            const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                datareader->get_instance_handle();
+            const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+            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_DATAREADER,
+        std::move(on_create_datareader));
+
+    /**
+     * Add DELETE_DATAREADER callback.
+     */
+    std::function<void (
+        const eprosima::fastdds::dds::DomainParticipant *,
+        const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
+        ([&](
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataReader* datareader) -> void
+        {
+            auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+            // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+            const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                datareader->get_instance_handle();
+            const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+            graph_manager_->remove_datareader(datareader_guid);
+        });
+
+    xrce_dds_agent_instance_.add_middleware_callback(
+        eprosima::uxr::Middleware::Kind::FASTDDS,
+        eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
+        std::move(on_delete_datareader));
+}
+
+Agent& Agent::getInstance()
+{
+    static Agent instance;
+    return instance;
 }
 
 bool Agent::create(
         int argc,
         char** argv)
 {
-    bool result = xrce_dds_agent_instance_.create(argc, argv);
+    stop();
-    if (result)
+    return xrce_dds_agent_instance_.create(argc, argv);
-    {
-        /**
-         * Add CREATE_PARTICIPANT callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *)> on_create_participant
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-                graph_manager_->add_participant(participant);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_PARTICIPANT,
-            std::move(on_create_participant));
-
-        /**
-         * Add REMOVE_PARTICIPANT callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *)> on_delete_participant
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-                graph_manager_->remove_participant(participant);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_PARTICIPANT,
-            std::move(on_delete_participant));
-
-        /**
-         * Add CREATE_DATAWRITER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *)> on_create_datawriter
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    iHandle2GUID(instance_handle);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
-                graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_DATAWRITER,
-            std::move(on_create_datawriter));
-
-        /**
-         * Add DELETE_DATAWRITER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
-            {
-
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datawriter(datawriter_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_DATAWRITER,
-            std::move(on_delete_datawriter));
-
-        /**
-         * Add CREATE_DATAREADER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataReader*)> on_create_datareader
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataReader* datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                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_DATAREADER,
-            std::move(on_create_datareader));
-
-        /**
-         * Add DELETE_DATAREADER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataReader* datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datareader(datareader_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
-            std::move(on_delete_datareader));
-    }
-
-    return result;
 }
 
 void Agent::run()
@@ -179,12 +181,12 @@ void Agent::run()
 void Agent::stop()
 {
     xrce_dds_agent_instance_.stop();
+    graph_manager_map_.clear();
 }
 
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
+    auto it = graph_manager_map_.find(domain_id);
-auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
         return it->second;

micro_ros_agent/src/main.cpp

@@ -16,7 +16,7 @@
 
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+    uros::agent::Agent& micro_ros_agent = micro_ros_agent.getInstance();
 
     /** Bypass '--ros-args' flag, as we use our own CLI parser.
       * As a workaround for launch files, arguments will be passed from