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Merged
pablogs9 merged 5 commits into from
Jun 21, 2021
Merged

Add multi domain graph manager #69

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e832f3f
Add multi domain graph manager
pablogs9 Jun 21, 2021
fd72bb3
Update
pablogs9 Jun 21, 2021
98502c1
Fix
pablogs9 Jun 21, 2021
7697801
Fix
pablogs9 Jun 21, 2021
8f01ee6
Update micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
pablogs9 Jun 21, 2021
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4 changes: 3 additions & 1 deletion micro_ros_agent/include/agent/Agent.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,9 @@ class Agent
private:

eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
std::unique_ptr<graph_manager::GraphManager> graph_manager_;
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);
};

} // namespace agent
Expand Down
5 changes: 3 additions & 2 deletions micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ class GraphManager
/**
* @brief Default constructor.
*/
GraphManager();
GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);

/**
* @brief Default destructor.
Expand Down Expand Up @@ -292,6 +292,7 @@ class GraphManager
*/
void update_node_entities_info();

eprosima::fastdds::dds::DomainId_t domain_id_;
bool graph_changed_;
bool display_on_change_;
const char * enclave_;
Expand Down Expand Up @@ -319,4 +320,4 @@ class GraphManager
} // namespace agent
} // namespace uros

#endif // _UROS_AGENT_GRAPH_MANAGER_HPP
#endif // _UROS_AGENT_GRAPH_MANAGER_HPP
63 changes: 58 additions & 5 deletions micro_ros_agent/src/agent/Agent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@ namespace agent {

Agent::Agent()
: xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
, graph_manager_(nullptr)
{
}

Expand All @@ -33,8 +32,6 @@ bool Agent::create(
bool result = xrce_dds_agent_instance_.create(argc, argv);
if (result)
{
graph_manager_.reset(new graph_manager::GraphManager());

/**
* Add CREATE_PARTICIPANT callback.
*/
Expand All @@ -43,6 +40,12 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

graph_manager_->add_participant(participant);
});
xrce_dds_agent_instance_.add_middleware_callback(
Expand All @@ -58,6 +61,12 @@ bool Agent::create(
([&](
const eprosima::fastdds::dds::DomainParticipant* participant) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

graph_manager_->remove_participant(participant->guid());
});
xrce_dds_agent_instance_.add_middleware_callback(
Expand All @@ -75,6 +84,12 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datawriter->get_instance_handle();
Expand All @@ -96,9 +111,16 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
([&](
const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter) -> void
{

auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datawriter->get_instance_handle();
Expand All @@ -122,6 +144,12 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
Expand All @@ -143,9 +171,15 @@ bool Agent::create(
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
([&](
const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataReader* datareader) -> void
{
auto graph_manager_ =
find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
participant->get_domain_id()
)
);

// TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
Expand All @@ -168,6 +202,25 @@ void Agent::run()
return xrce_dds_agent_instance_.run();
}

std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
{
auto it = graph_manager_map_.find(domain_id);

if (it != graph_manager_map_.end()) {
return it->second;
}else{
return graph_manager_map_.insert(
std::pair<
eprosima::fastdds::dds::DomainId_t,
std::shared_ptr<graph_manager::GraphManager>
>(
domain_id,
std::make_shared<graph_manager::GraphManager>(domain_id)
)
).first->second;
}
}

} // namespace agent
} // namespace uros
#endif // _UROS_AGENT_AGENT_CPP
9 changes: 4 additions & 5 deletions micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,10 @@ namespace uros {
namespace agent {
namespace graph_manager {

GraphManager::GraphManager()
GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
// : eprosima::fastrtps::ParticipantListener()
: graph_changed_(false)
: domain_id_(domain_id)
, graph_changed_(false)
, display_on_change_(false)
, enclave_("/")
, mtx_()
Expand All @@ -37,8 +38,6 @@ GraphManager::GraphManager()
eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
{
// Create DomainParticipant
eprosima::fastdds::dds::DomainId_t domain_id(0);

eprosima::fastdds::dds::DomainParticipantQos participant_qos =
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();

Expand All @@ -54,7 +53,7 @@ GraphManager::GraphManager()
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
create_participant(domain_id, participant_qos, participant_listener_.get()));
create_participant(domain_id_, participant_qos, participant_listener_.get()));

// Register participant within typesupport
participant_->register_type(*participant_info_typesupport_);
Expand Down