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Merge pull request #185 from eProsima/v1.5.0
v1.5.0 release
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| // Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef UXR_AGENT_AGENT_INSTANCE_HPP_ | ||
| #define UXR_AGENT_AGENT_INSTANCE_HPP_ | ||
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| #include <uxr/agent/config.hpp> | ||
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| #ifdef UAGENT_CLI_PROFILE | ||
| #include <uxr/agent/utils/CLI.hpp> | ||
| #else | ||
| #include <uxr/agent/utils/ArgumentParser.hpp> | ||
| #endif // UAGENT_CLI_PROFILE | ||
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| #include <csignal> | ||
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| namespace eprosima { | ||
| namespace uxr { | ||
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| /** | ||
| * @brief Singleton class to manage the launch process of a MicroXRCE-DDS Agent. | ||
| */ | ||
| class AgentInstance | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Default constructor. | ||
| */ | ||
| UXR_AGENT_EXPORT AgentInstance(); | ||
| /** | ||
| * @brief AgentInstance class shall not be copy constructible. | ||
| */ | ||
| UXR_AGENT_EXPORT AgentInstance( | ||
| const AgentInstance &) = delete; | ||
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| UXR_AGENT_EXPORT AgentInstance( | ||
| AgentInstance &&) = delete; | ||
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| /** | ||
| * @brief AgentInstance class shall not be copy assignable. | ||
| */ | ||
| UXR_AGENT_EXPORT AgentInstance& operator =( | ||
| const AgentInstance &) = delete; | ||
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| UXR_AGENT_EXPORT AgentInstance& operator =( | ||
| AgentInstance &&) = delete; | ||
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| /** | ||
| * @brief Get instance associated to this class. | ||
| * @return Static reference to the singleton AgentInstance object. | ||
| */ | ||
| UXR_AGENT_EXPORT static AgentInstance& getInstance(); | ||
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| /** | ||
| * @brief Create an Agent instance, based on provided input parameters from user. | ||
| * @param[in] argc Number of available parameters introduced by the user. | ||
| * @param[in] argv List of parameters to be parsed to instantiate an Agent. | ||
| * @return Boolean value indicating if a Micro XRCE-DDS Agent was instantiated successfully. | ||
| */ | ||
| UXR_AGENT_EXPORT bool create( | ||
| int argc, | ||
| char** argv); | ||
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| /** | ||
| * @brief Run the created agent until finished via user interrupt or process error. | ||
| */ | ||
| UXR_AGENT_EXPORT void run(); | ||
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| private: | ||
| #ifdef UAGENT_CLI_PROFILE | ||
| CLI::App app_; | ||
| cli::UDPv4Subcommand udpv4_subcmd_; | ||
| cli::UDPv6Subcommand udpv6_subcmd_; | ||
| cli::TCPv4Subcommand tcpv4_subcmd_; | ||
| cli::TCPv6Subcommand tcpv6_subcmd_; | ||
| #ifndef _WIN32 | ||
| cli::TermiosSubcommand termios_subcmd_; | ||
| cli::PseudoTerminalSubcommand pseudo_serial_subcmd_; | ||
| #endif // _WIN32 | ||
| cli::ExitSubcommand exit_subcmd_; | ||
| #else | ||
| std::thread agent_thread_; | ||
| #endif // UAGENT_CLI_PROFILE | ||
| #ifndef _WIN32 | ||
| sigset_t signals_; | ||
| #endif // _WIN32 | ||
| }; | ||
| } // uxr | ||
| } // eprosima | ||
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| #endif // UXR_AGENT_AGENT_INSTANCE_HPP_ |
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