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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
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@@ -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