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https://github.com/micro-ROS/micro-ROS-Agent.git
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68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef _UROS_AGENT_AGENT_HPP
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#define _UROS_AGENT_AGENT_HPP
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#include <uxr/agent/AgentInstance.hpp>
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#include <uxr/agent/middleware/Middleware.hpp>
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#include <uxr/agent/middleware/utils/Callbacks.hpp>
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#include <agent/graph_manager/graph_manager.hpp>
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// TODO(jamoralp): class Documentation
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namespace uros {
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namespace agent {
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class Agent
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{
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private:
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Agent();
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~Agent()
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{
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stop();
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}
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Agent(const Agent &) = delete;
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Agent(Agent &&) = delete;
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Agent& operator =(
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const Agent &) = delete;
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Agent& operator =(
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Agent &&) = delete;
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public:
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static Agent& getInstance();
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bool create(
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int argc,
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char** argv);
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void run();
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void stop();
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private:
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bool initialized = false;
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eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
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std::map<eprosima::fastdds::dds::DomainId_t, graph_manager::GraphManager> graph_manager_map_;
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graph_manager::GraphManager* find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
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};
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} // namespace agent
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} // namespace uros
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#endif // _UROS_AGENT_AGENT_HPP
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