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Add services to graph manager (backport #127) #129

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Merged
pablogs9 merged 1 commit into from
Mar 22, 2022
Merged

Add services to graph manager (backport #127) #129

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138 changes: 125 additions & 13 deletions micro_ros_agent/src/agent/Agent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,14 +79,9 @@ bool Agent::create(
{
auto graph_manager_ = find_or_create_graph_manager(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();
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
iHandle2GUID(instance_handle);
graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
graph_manager_->associate_entity(
datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
});
xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
Expand All @@ -106,12 +101,7 @@ bool Agent::create(

auto graph_manager_ = find_or_create_graph_manager(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();
const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datawriter(datawriter_guid);
graph_manager_->remove_datawriter(datawriter->guid());
});

xrce_dds_agent_instance_.add_middleware_callback(
Expand Down Expand Up @@ -169,6 +159,128 @@ bool Agent::create(
eprosima::uxr::Middleware::Kind::FASTDDS,
eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
std::move(on_delete_datareader));

/**
* Add CREATE_REQUESTER callback.
*/
std::function<void (
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *,
const eprosima::fastdds::dds::DataReader *)> on_create_requester
([&](
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter,
const eprosima::fastdds::dds::DataReader * datareader) -> void
{
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
graph_manager_->associate_entity(
datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);

// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
graph_manager_->add_datareader(datareader_guid, participant, datareader);
graph_manager_->associate_entity(
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
});
xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
std::move(on_create_requester));

/**
* Add DELETE_REQUESTER callback.
*/
std::function<void (
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *,
const eprosima::fastdds::dds::DataReader *)> on_delete_requester
([&](
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter,
const eprosima::fastdds::dds::DataReader * datareader) -> void
{
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

graph_manager_->remove_datawriter(datawriter->guid());

// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datareader(datareader_guid);
});

xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
std::move(on_delete_requester));

/**
* Add CREATE_REPLIER callback.
*/
std::function<void (
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *,
const eprosima::fastdds::dds::DataReader *)> on_create_replier
([&](
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter,
const eprosima::fastdds::dds::DataReader * datareader) -> void
{
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
graph_manager_->associate_entity(
datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);

// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
graph_manager_->add_datareader(datareader_guid, participant, datareader);
graph_manager_->associate_entity(
datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
});
xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
std::move(on_create_replier));

/**
* Add DELETE_REPLIER callback.
*/
std::function<void (
const eprosima::fastdds::dds::DomainParticipant *,
const eprosima::fastdds::dds::DataWriter *,
const eprosima::fastdds::dds::DataReader *)> on_delete_replier
([&](
const eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastdds::dds::DataWriter* datawriter,
const eprosima::fastdds::dds::DataReader * datareader) -> void
{
auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

graph_manager_->remove_datawriter(datawriter->guid());

// TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
datareader->get_instance_handle();
const eprosima::fastrtps::rtps::GUID_t datareader_guid =
eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
graph_manager_->remove_datareader(datareader_guid);
});

xrce_dds_agent_instance_.add_middleware_callback(
eprosima::uxr::Middleware::Kind::FASTDDS,
eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
std::move(on_delete_replier));
}

return result;
Expand Down