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Add multi domain graph manager (#69)

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* Add multi domain graph manager

* Update

* Fix

* Fix

* Update micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
This commit is contained in:
Pablo Garrido
2021-06-21 16:15:07 +02:00
committed by GitHub
co-authored by Antonio Cuadros
parent 003cb38ef2
commit a3fe4aa376
4 changed files with 68 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
micro_ros_agent/src/agent/Agent.cpp
+58 -5
View File
@@ -22,7 +22,6 @@ namespace agent {
Agent::Agent()
: xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
, graph_manager_(nullptr)
{
}
@@ -33,8 +32,6 @@ bool Agent::create(
bool result = xrce_dds_agent_instance_.create(argc, argv);
if (result)
{
graph_manager_.reset(new graph_manager::GraphManager());
/**
* Add CREATE_PARTICIPANT callback.
*/
@@ -43,6 +40,12 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
graph_manager_->add_participant(participant);
});
xrce_dds_agent_instance_.add_middleware_callback(
@@ -58,6 +61,12 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);
graph_manager_->remove_participant(participant->guid());
});
xrce_dds_agent_instance_.add_middleware_callback(
@@ -75,6 +84,12 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
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();
@@ -96,9 +111,16 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
([&](
const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
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();
@@ -122,6 +144,12 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
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();
@@ -143,9 +171,15 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
([&](
const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
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();
@@ -168,6 +202,25 @@ void Agent::run()
return xrce_dds_agent_instance_.run();
}
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);
if (it != graph_manager_map_.end()) {
return it->second;
}else{
return graph_manager_map_.insert(
std::pair<
eprosima::fastdds::dds::DomainId_t,
std::shared_ptr<graph_manager::GraphManager>
>(
domain_id,
std::make_shared<graph_manager::GraphManager>(domain_id)
)
).first->second;
}
}
} // namespace agent
} // namespace uros
#endif // _UROS_AGENT_AGENT_CPP
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+4 -5
View File
@@ -21,9 +21,10 @@ namespace uros {
namespace agent {
namespace graph_manager {
GraphManager::GraphManager()
GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
// : eprosima::fastrtps::ParticipantListener()
: graph_changed_(false)
: domain_id_(domain_id)
, graph_changed_(false)
, display_on_change_(false)
, enclave_("/")
, mtx_()
@@ -37,8 +38,6 @@ GraphManager::GraphManager()
eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
{
// Create DomainParticipant
eprosima::fastdds::dds::DomainId_t domain_id(0);
eprosima::fastdds::dds::DomainParticipantQos participant_qos =
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
@@ -54,7 +53,7 @@ GraphManager::GraphManager()
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
create_participant(domain_id, participant_qos, participant_listener_.get()));
create_participant(domain_id_, participant_qos, participant_listener_.get()));
// Register participant within typesupport
participant_->register_type(*participant_info_typesupport_);