Backport from galactic

micro_ros_agent/CMakeLists.txt

@@ -14,6 +14,9 @@
 
 cmake_minimum_required(VERSION 3.5)
 
+option(BUILD_SHARED_LIBS "Control shared/static building." ON)
+option(UBUILD_AGENT_EXECUTABLE "Control shared/static building." ON)
+
 option(UROSAGENT_GENERATE_PROFILE
   "Generates agent.refs according to the .msgs provided in the .repos" OFF
   )
@@ -41,15 +44,26 @@ find_package(ament_cmake_gtest REQUIRED)
 
 find_package(micro_ros_msgs REQUIRED)
 
-add_executable(${PROJECT_NAME}
+include(GNUInstallDirs)
-  src/main.cpp
+set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
+set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
+set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
+
+# Set source files
+set(SRCS
   src/agent/Agent.cpp
   src/agent/graph_manager/graph_manager.cpp
   src/agent/graph_manager/graph_typesupport.cpp
   src/agent/utils/demangle.cpp
   )
 
-target_include_directories(${PROJECT_NAME}
+# Library
+add_library(${PROJECT_NAME} ${SRCS})
+
+target_include_directories(${PROJECT_NAME} BEFORE
+  PUBLIC
+    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
   PRIVATE
     include
   )
@@ -74,27 +88,6 @@ target_link_libraries(${PROJECT_NAME}
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )
 
-target_compile_options(${PROJECT_NAME}
-  PRIVATE
-    $<$<C_COMPILER_ID:GNU>:-Wall>
-    $<$<C_COMPILER_ID:GNU>:-Wextra>
-    $<$<C_COMPILER_ID:GNU>:-pedantic>
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
 target_compile_options(${PROJECT_NAME}
   PRIVATE
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
@@ -102,23 +95,104 @@ target_compile_options(${PROJECT_NAME}
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
   )
 
-ament_export_dependencies(microxrcedds_agent)
+set_target_properties(${PROJECT_NAME} PROPERTIES
-
+  CXX_STANDARD
-ament_package()
+    14
+  CXX_STANDARD_REQUIRED
+    YES
+  )
 
+# Install agent lib
 install(
     TARGETS
         ${PROJECT_NAME}
+    EXPORT
+        ${PROJECT_NAME}Targets
+    RUNTIME DESTINATION
+        ${BIN_INSTALL_DIR}
+    LIBRARY DESTINATION
+        ${LIB_INSTALL_DIR}
+    ARCHIVE DESTINATION
+        ${LIB_INSTALL_DIR}
+    COMPONENT
+        libraries
+    )
+
+# Install includes
+install(
+    DIRECTORY
+        ${PROJECT_SOURCE_DIR}/include/agent
+    DESTINATION
+        ${INCLUDE_INSTALL_DIR}
+    FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+    )
+
+# Export library
+install(
+  EXPORT
+      ${PROJECT_NAME}Targets
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+# Package configuration
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+      ${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in
+        ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+    INSTALL_DESTINATION
+        ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+    PATH_VARS
+        BIN_INSTALL_DIR
+        INCLUDE_INSTALL_DIR
+        LIB_INSTALL_DIR
+        DATA_INSTALL_DIR
+    )
+
+install(
+  FILES
+      ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+if(UBUILD_AGENT_EXECUTABLE)
+  add_executable(micro_ros_agent_bin
+    ${SRCS}
+    src/main.cpp
+    )
+
+  target_include_directories(micro_ros_agent_bin
+    PRIVATE
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    )
+
+  target_link_libraries(micro_ros_agent_bin ${PROJECT_NAME})
+
+  set_target_properties(micro_ros_agent_bin
+      PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+  install(
+    TARGETS
+      micro_ros_agent_bin
     DESTINATION
       lib/${PROJECT_NAME}
     )
 
-install(
+  install(
     DIRECTORY
       launch
     DESTINATION
       share/${PROJECT_NAME}
     )
+endif()
+
+ament_export_dependencies(microxrcedds_agent)
+
+ament_package()
 
 if(UROSAGENT_GENERATE_PROFILE)
   set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")

micro_ros_agent/cmake/Config.cmake.in

@@ -0,0 +1,32 @@
+# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+if(MSVC OR MSVC_IDE)
+    set_and_check(@PROJECT_NAME@_BIN_DIR "@PACKAGE_BIN_INSTALL_DIR@")
+endif()
+set_and_check(@PROJECT_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_LIB_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_DATA_DIR "@PACKAGE_DATA_INSTALL_DIR@")
+
+foreach(d @_deps@)
+    list(GET d 0 _name)
+    list(GET d 1 _version)
+    find_package(${_name} ${_version} REQUIRED)
+endforeach()
+
+include(${@PROJECT_NAME@_DATA_DIR}/@PROJECT_NAME@/cmake/@PROJECT_NAME@Targets.cmake)

micro_ros_agent/include/agent/Agent.hpp

@@ -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

@@ -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_;
+    ParticipantListener participant_listener_;
-    std::unique_ptr<DatareaderListener> datareader_listener_;
+    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_;
 
+    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_;
 };
 

micro_ros_agent/src/agent/Agent.cpp

@@ -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(
+        return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
     }
 }
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -28,14 +28,14 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     , mtx_()
     , cv_()
     , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
+    , participant_listener_(this)
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
+    , datareader_listener_(this)
-    , participant_info_typesupport_(std::make_unique<
+    , participant_info_typesupport_()
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
+    , microros_graph_info_typesupport_()
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
 {
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
+    participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
+    microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
 
     // Create DomainParticipant
     eprosima::fastdds::dds::DomainParticipantQos participant_qos =
@@ -54,29 +54,29 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
-    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+    participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
-        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));
+        create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
 
     // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
+    participant_->register_type(participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
+    participant_->register_type(microros_graph_info_typesupport_);
 
     // Create publisher
-    publisher_.reset(participant_->create_publisher(
+    publisher_ = participant_->create_publisher(
-        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
+        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);
 
     // Create subscriber
-    subscriber_.reset(participant_->create_subscriber(
+    subscriber_ = participant_->create_subscriber(
-        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
+        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);
 
     // Create topics
-    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
+    ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
+        participant_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
-    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
+    ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
+        microros_graph_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
     // Create datawriters
     datawriter_qos_ =
@@ -97,8 +97,8 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
     ros_to_microros_datawriter_qos_.history().kind =
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
-    ros_to_microros_graph_datawriter_.reset(
+    ros_to_microros_graph_datawriter_ = 
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
+        publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);
 
     // Create datareaders
 
@@ -114,9 +114,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     datareader_qos.durability().kind =
         eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
 
-    ros_discovery_datareader_.reset(
+    ros_discovery_datareader_ = 
-        subscriber_->create_datareader(ros_discovery_topic_.get(),
+        subscriber_->create_datareader(ros_discovery_topic_,
-            datareader_qos, datareader_listener_.get()));
+            datareader_qos, &datareader_listener_);
 
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
@@ -137,10 +137,15 @@ inline void GraphManager::publish_microros_graph()
             std::unique_lock<std::mutex> lock(mtx_);
             cv_.wait(lock, [this]()
             {
-                return this->graph_changed_;
+                return this->graph_changed_ || exit;
             });
         }
 
+        if (exit)
+        {
+            break;
+        }
+
         if (display_on_change_)
         {
             std::cout << "Updated uros Graph: graph changed" << std::endl;
@@ -315,8 +320,8 @@ void GraphManager::add_participant(
         if (it == micro_ros_graph_datawriters_.end())
         {
             // Create datawriter
-            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
+            eprosima::fastdds::dds::DataWriter* datawriter;
-            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
+            datawriter = publisher_->create_datawriter(ros_discovery_topic_, datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
                 std::make_pair(participant, std::move(datawriter))).first;
@@ -339,8 +344,10 @@ void GraphManager::remove_participant(
         rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
         auto it = micro_ros_graph_datawriters_.find(participant);
         it->second->write(static_cast<void *>(&info));
-    }
+
+        publisher_->delete_datawriter(it->second);
         micro_ros_graph_datawriters_.erase(participant);
+    }
 }
 
 void GraphManager::add_datawriter(

micro_ros_agent/src/main.cpp

@@ -16,7 +16,7 @@
 
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+    uros::agent::Agent& micro_ros_agent = micro_ros_agent.getInstance();
 
     /** Bypass '--ros-args' flag, as we use our own CLI parser.
       * As a workaround for launch files, arguments will be passed from