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Update agent as singleton

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This commit is contained in:
Antonio cuadros
2021-07-26 13:10:04 +02:00
parent 76c39a39be
commit 7294ba66d7
3 changed files with 158 additions and 146 deletions
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micro_ros_agent/include/agent/Agent.hpp
+13 -3
View File
@@ -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
+144 -142
View File
@@ -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);
if (result)
{
/**
* 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;
stop();
return xrce_dds_agent_instance_.create(argc, argv);
}
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
+1 -1
View File
@@ -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