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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
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micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+4 -5
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@@ -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_);