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Create graph manager after checking passed CLI arguments and launch xrce-dds server (#41)

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This commit is contained in:
Jose Antonio Moral
2020-12-02 16:51:22 +01:00
committed by GitHub
parent 602976b45f
commit e9330bf974
1 changed files with 132 additions and 125 deletions
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micro_ros_agent/src/agent/Agent.cpp
+13 -6
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@@ -22,8 +22,19 @@ namespace agent {
Agent::Agent() Agent::Agent()
: xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance()) : xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
, graph_manager_(std::make_unique<graph_manager::GraphManager>()) , graph_manager_(nullptr)
{ {
}
bool Agent::create(
int argc,
char** argv)
{
bool result = xrce_dds_agent_instance_.create(argc, argv);
if (result)
{
graph_manager_.reset(new graph_manager::GraphManager());
/** /**
* Add CREATE_PARTICIPANT callback. * Add CREATE_PARTICIPANT callback.
*/ */
@@ -149,11 +160,7 @@ Agent::Agent()
std::move(on_delete_datareader)); std::move(on_delete_datareader));
} }
bool Agent::create( return result;
int argc,
char** argv)
{
return xrce_dds_agent_instance_.create(argc, argv);
} }
void Agent::run() void Agent::run()