mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
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109 lines
3.0 KiB
C++
109 lines
3.0 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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public:
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Agent();
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~Agent() = default;
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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 add_callbacks();
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private:
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eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
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std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
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std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
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void remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id); // TODO: check grap_manager on agent closing
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};
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template<typename AgentType>
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class AgentAPI : Agent
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{
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public:
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AgentAPI() : Agent(){};
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~AgentAPI() = default;
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void create(uint16_t port)
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{
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xrce_dds_agent_instance_API.configure(port);
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add_callbacks();
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}
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void create(std::string dev, const std::string baudrate);
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void create(std::vector<std::string> devs, const std::string baudrate);
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void create(const std::string baudrate);
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void set_verbose_level(uint8_t verbose_level)
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{
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xrce_dds_agent_instance_API.set_verbose_level(verbose_level);
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}
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void run()
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{
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xrce_dds_agent_instance_API.run();
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}
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void stop()
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{
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xrce_dds_agent_instance_API.stop();
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}
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private:
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eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
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};
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template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
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{
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xrce_dds_agent_instance_API.configure(dev, baudrate);
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add_callbacks();
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}
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template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
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{
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xrce_dds_agent_instance_API.configure(devs, baudrate);
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add_callbacks();
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}
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template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
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{
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xrce_dds_agent_instance_API.configure(baudrate);
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add_callbacks();
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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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