From e64e17aa25ca760a51bafabe0d5904733b2cf9f4 Mon Sep 17 00:00:00 2001
From: Antonio cuadros <acuadros1995@gmail.com>
Date: Fri, 16 Jul 2021 13:55:07 +0200
Subject: [PATCH] Update callbacks on AgentAPI

---
 micro_ros_agent/include/agent/Agent.hpp | 43 +++++++++++++++++++------
 micro_ros_agent/src/agent/Agent.cpp     | 25 ++++----------
 2 files changed, 39 insertions(+), 29 deletions(-)

diff --git a/micro_ros_agent/include/agent/Agent.hpp b/micro_ros_agent/include/agent/Agent.hpp
index 72cc0a1..0b62aa7 100644
--- a/micro_ros_agent/include/agent/Agent.hpp
+++ b/micro_ros_agent/include/agent/Agent.hpp
@@ -32,6 +32,30 @@ public:
 
     ~Agent() = default;
 
+    /**
+     * @brief   Agent class shall not be copy constructible.
+     */
+    UXR_AGENT_EXPORT Agent(
+            const Agent &) = delete;
+
+    UXR_AGENT_EXPORT Agent(
+            Agent &&) = delete;
+
+    /**
+     * @brief   Agent class shall not be copy assignable.
+     */
+    UXR_AGENT_EXPORT Agent& operator =(
+            const Agent &) = delete;
+
+    UXR_AGENT_EXPORT Agent& operator =(
+            Agent &&) = delete;
+
+    static Agent& getInstance()
+    {
+        static Agent instance;
+        return instance;
+    }
+
     bool create(
             int argc,
             char** argv);
@@ -41,26 +65,25 @@ public:
     void add_callbacks();
 
 private:
-
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
-
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
-    void remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);    // TODO: check grap_manager on agent closing
+    bool started = false;
 };
 
 template<typename AgentType>
-class AgentAPI : Agent
+class AgentAPI
 {
 public:
-    AgentAPI() : Agent(){};
+    AgentAPI()
+    : agent_instance_(agent_instance_.getInstance())
+    {};
 
     ~AgentAPI() = default;
 
     void create(uint16_t port)
 	{
 		xrce_dds_agent_instance_API.configure(port);
-        add_callbacks();
 	}
 
 	void create(std::string dev, const std::string baudrate);
@@ -74,34 +97,34 @@ public:
 
     void run()
     {
+        agent_instance_.add_callbacks();
         xrce_dds_agent_instance_API.run();
     }
-    
+
     void stop()
     {
         xrce_dds_agent_instance_API.stop();
     }
 
 private:
+    Agent& agent_instance_;
     eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
 };
 
 template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
 {
     xrce_dds_agent_instance_API.configure(dev, baudrate);
-    add_callbacks();
 }
 
 template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
 {
     xrce_dds_agent_instance_API.configure(devs, baudrate);
-    add_callbacks();
+
 }
 
 template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
 {
     xrce_dds_agent_instance_API.configure(baudrate);
-    add_callbacks();
 }
 
 }  // namespace agent
diff --git a/micro_ros_agent/src/agent/Agent.cpp b/micro_ros_agent/src/agent/Agent.cpp
index 7af6cac..847cadd 100644
--- a/micro_ros_agent/src/agent/Agent.cpp
+++ b/micro_ros_agent/src/agent/Agent.cpp
@@ -29,17 +29,13 @@ bool Agent::create(
         int argc,
         char** argv)
 {
-    bool result = xrce_dds_agent_instance_.create(argc, argv);
-    if (result)
-    {
-        add_callbacks();
-    }
-
-    return result;
+    return xrce_dds_agent_instance_.create(argc, argv);
 }
 
 void Agent::add_callbacks()
 {
+    if (!started)
+    {
         /**
          * Add CREATE_PARTICIPANT callback.
          */
@@ -108,7 +104,6 @@ void Agent::add_callbacks()
                 const eprosima::fastdds::dds::DomainParticipant* participant,
                 const eprosima::fastdds::dds::DataWriter* datawriter) -> void
             {
-
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
                 // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
@@ -174,6 +169,9 @@ void Agent::add_callbacks()
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
+
+        started = true;
+    }
 }
 
 void Agent::run()
@@ -198,17 +196,6 @@ auto it = graph_manager_map_.find(domain_id);
     }
 }
 
-void Agent::remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
-{
-    auto it = graph_manager_map_.find(domain_id);
-
-    if (it != graph_manager_map_.end()) 
-    {
-        it->second = nullptr;
-        graph_manager_map_.erase(it);        
-    }
-}
-
 }  // namespace agent
 }  // namespace uros
 #endif  // _UROS_AGENT_AGENT_CPP
\ No newline at end of file