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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/src/agent/Agent.cpp
+24 -11
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@@ -25,13 +25,22 @@ Agent::Agent()
{
}
Agent& Agent::getInstance()
{
static Agent instance;
return instance;
}
bool Agent::create(
int argc,
char** argv)
{
bool result = xrce_dds_agent_instance_.create(argc, argv);
if (result)
if (result && !initialized)
{
initialized = true;
/**
* Add CREATE_PARTICIPANT callback.
*/
@@ -173,23 +182,27 @@ bool Agent::create(
void Agent::run()
{
return xrce_dds_agent_instance_.run();
xrce_dds_agent_instance_.run();
}
std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
void Agent::stop()
{
xrce_dds_agent_instance_.stop();
auto it = graph_manager_map_.find(domain_id);
for (auto & element : graph_manager_map_)
{
element.second.stop();
}
}
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;
return &it->second;
}else{
return graph_manager_map_.insert(
std::make_pair(
domain_id,
std::make_shared<graph_manager::GraphManager>(domain_id)
)
).first->second;
return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
}
}