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Backport from galactic

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This commit is contained in:
Antonio cuadros
2021-07-27 13:17:27 +02:00
parent 7f3f560bc7
commit a5e14eab70
7 changed files with 246 additions and 98 deletions
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micro_ros_agent/include/agent/Agent.hpp
+18 -6
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,
@@ -38,12 +48,14 @@ public:
void run();
void stop();
private:
bool initialized = false;
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, graph_manager::GraphManager> graph_manager_map_;
std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
graph_manager::GraphManager* find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
};
} // namespace agent
micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+23 -13
View File
@@ -82,6 +82,16 @@ public:
*/
~GraphManager() = default;
void stop()
{
if (microros_graph_publisher_.joinable())
{
exit = true;
cv_.notify_one();
microros_graph_publisher_.join();
}
}
/**
* @brief Implementation of the notification logic that updates the micro-ROS graph.
*/
@@ -304,27 +314,27 @@ private:
std::thread microros_graph_publisher_;
std::mutex mtx_;
std::condition_variable cv_;
volatile bool exit = false;
eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
rmw_dds_common::GraphCache graphCache_;
std::unique_ptr<ParticipantListener> participant_listener_;
std::unique_ptr<DatareaderListener> datareader_listener_;
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
std::unique_ptr<eprosima::fastdds::dds::DomainParticipant> participant_;
std::unique_ptr<eprosima::fastdds::dds::Publisher> publisher_;
std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
ParticipantListener participant_listener_;
DatareaderListener datareader_listener_;
eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
eprosima::fastdds::dds::TypeSupport microros_graph_info_typesupport_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Subscriber* subscriber_;
eprosima::fastdds::dds::Topic* ros_discovery_topic_;
eprosima::fastdds::dds::Topic* ros_to_microros_graph_topic_;
eprosima::fastdds::dds::DataWriter* ros_to_microros_graph_datawriter_;
eprosima::fastdds::dds::DataReader* ros_discovery_datareader_;
// Store a auxiliary publishers and datawriter for each participant created in micro-ROS
std::map<
const eprosima::fastdds::dds::DomainParticipant*,
std::unique_ptr<eprosima::fastdds::dds::DataWriter>
eprosima::fastdds::dds::DataWriter*
> micro_ros_graph_datawriters_;
};