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Modify callbacks init

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This commit is contained in:
Antonio cuadros
2021-07-26 13:43:57 +02:00
parent 7294ba66d7
commit 9564b943ee
2 changed files with 145 additions and 136 deletions
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micro_ros_agent/include/agent/Agent.hpp
+1 -1
View File
@@ -51,7 +51,7 @@ public:
void stop(); void stop();
private: private:
bool initialized = false;
eprosima::uxr::AgentInstance& xrce_dds_agent_instance_; eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_; std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
micro_ros_agent/src/agent/Agent.cpp
+144 -135
View File
@@ -23,140 +23,6 @@ namespace agent {
Agent::Agent() Agent::Agent()
: xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance()) : 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() Agent& Agent::getInstance()
@@ -170,7 +36,150 @@ bool Agent::create(
char** argv) char** argv)
{ {
stop(); stop();
return xrce_dds_agent_instance_.create(argc, argv);
bool result = xrce_dds_agent_instance_.create(argc, argv);
if (result && !initialized)
{
initialized = true;
/**
* 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() void Agent::run()