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Fix Rolling agent (#61)

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* Initial

* Remove deprecated FastDDS entities methods


Remove headers

* Add conversion functions
This commit is contained in:
Pablo Garrido
2021-06-21 16:15:47 +02:00
parent a3fe4aa376
commit e133754746
3 changed files with 50 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/ci.yml
+1 -1
View File
@@ -9,7 +9,7 @@ jobs:
microros_agent_ci:
runs-on: ubuntu-20.04
container: microros/base:foxy
container: microros/base:rolling
steps:
- uses: actions/checkout@v2
micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
-30
View File
@@ -138,21 +138,6 @@ public:
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::DataWriterQos& writer_qos);
/**
* @brief Adds a DDS datawriter to the graph tree.
* @param datawriter_guid rtps::GUID_t of the datawriter to be added.
* @param topic_name Name of the topic to which the datawriter sends information to.
* @param type_name Type name of the sent topic.
* @param participant_guid rtps::GUID_t of the participant which owns this datawriter.
* @param writer_qos QOS of the datawriter to be included into the graph tree.
*/
void add_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::WriterQos& writer_qos);
/**
* @brief Removes a DDS datawriter from the graph tree.
* @param datawriter_guid rtps::GUID_t of the datawriter to be removed.
@@ -186,21 +171,6 @@ public:
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::DataReaderQos& reader_qos);
/**
* @brief Adds a DDS datareader to the graph tree.
* @param datareader_guid rtps::GUID_t of the datareader to be added.
* @param topic_name Name of the topic to which the datareader sends information to.
* @param type_name Type name of the sent topic.
* @param participant_guid rtps::GUID_t of the participant which owns this datareader.
* @param writer_qos QOS of the datareader to be included into the graph tree.
*/
void add_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::ReaderQos& reader_qos);
/**
* @brief Removes a DDS datareader from the graph tree.
* @param datareader_guid rtps::GUID_t of the datareader to be removed.
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+49 -39
View File
@@ -350,24 +350,6 @@ void GraphManager::add_datawriter(
type_name, participant_gid, qos_profile, false);
}
void GraphManager::add_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::WriterQos& writer_qos)
{
const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", datawriter_guid);
const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", participant_guid);
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
dds_qos_to_rmw_qos(writer_qos, &qos_profile);
graphCache_.add_entity(datawriter_gid, topic_name,
type_name, participant_gid, qos_profile, false);
}
void GraphManager::remove_datawriter(
const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
{
@@ -405,24 +387,6 @@ void GraphManager::add_datareader(
type_name, participant_gid, qos_profile, true);
}
void GraphManager::add_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
const std::string& topic_name,
const std::string& type_name,
const eprosima::fastrtps::rtps::GUID_t& participant_guid,
const eprosima::fastdds::dds::ReaderQos& reader_qos)
{
const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", datareader_guid);
const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
"rmw_fastrtps_cpp", participant_guid);
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
dds_qos_to_rmw_qos(reader_qos, &qos_profile);
graphCache_.add_entity(datareader_gid, topic_name,
type_name, participant_gid, qos_profile, true);
}
void GraphManager::remove_datareader(
const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
{
@@ -549,7 +513,7 @@ void GraphManager::update_node_entities_info()
if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
{
if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
{
graphCache_.update_participant_entities(entities_info);
}
@@ -597,6 +561,52 @@ void GraphManager::ParticipantListener::on_participant_discovery(
}
}
static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
const eprosima::fastdds::dds::WriterQos& writer_qos)
{
eprosima::fastdds::dds::DataWriterQos datawriter_qos;
datawriter_qos.durability(writer_qos.m_durability);
datawriter_qos.durability_service(writer_qos.m_durabilityService);
datawriter_qos.deadline(writer_qos.m_deadline);
datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
datawriter_qos.liveliness(writer_qos.m_liveliness);
datawriter_qos.reliability(writer_qos.m_reliability);
datawriter_qos.destination_order(writer_qos.m_destinationOrder);
datawriter_qos.lifespan(writer_qos.m_lifespan);
datawriter_qos.user_data(writer_qos.m_userData);
datawriter_qos.ownership(writer_qos.m_ownership);
datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
datawriter_qos.publish_mode(writer_qos.m_publishMode);
datawriter_qos.representation(writer_qos.representation);
datawriter_qos.data_sharing(writer_qos.data_sharing);
return datawriter_qos;
}
static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
const eprosima::fastdds::dds::ReaderQos& reader_qos)
{
eprosima::fastdds::dds::DataReaderQos datareader_qos;
datareader_qos.durability(reader_qos.m_durability);
datareader_qos.deadline(reader_qos.m_deadline);
datareader_qos.latency_budget(reader_qos.m_latencyBudget);
datareader_qos.liveliness(reader_qos.m_liveliness);
datareader_qos.reliability(reader_qos.m_reliability);
datareader_qos.destination_order(reader_qos.m_destinationOrder);
datareader_qos.user_data(reader_qos.m_userData);
datareader_qos.ownership(reader_qos.m_ownership);
datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
datareader_qos.lifespan(reader_qos.m_lifespan);
datareader_qos.durability_service(reader_qos.m_durabilityService);
eprosima::fastdds::dds::TypeConsistencyQos consistency;
consistency.type_consistency = reader_qos.type_consistency;
datareader_qos.type_consistency(consistency);
datareader_qos.data_sharing(reader_qos.data_sharing);
return datareader_qos;
}
template <>
void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
@@ -613,7 +623,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
const std::string type_name = reader_info.info.typeName().to_string();
graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
break;
}
default:
@@ -640,7 +650,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
const std::string type_name = writer_info.info.typeName().to_string();
graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
break;
}
default: