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Update callbacks on AgentAPI

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This commit is contained in:
Antonio cuadros
2021-07-16 13:55:07 +02:00
parent 39d8ed0ba2
commit e64e17aa25
2 changed files with 39 additions and 29 deletions
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micro_ros_agent/include/agent/Agent.hpp
+33 -10
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@@ -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