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Merge pull request #50 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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| // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES | ||
| // Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | ||
| // | ||
| // 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. | ||
| // | ||
| // SPDX-License-Identifier: Apache-2.0 | ||
|
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| #ifndef NVIDIA_GXF_ENTITY_GROUP_HPP_ | ||
| #define NVIDIA_GXF_ENTITY_GROUP_HPP_ | ||
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| #include <map> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include "gxf/app/graph_entity.hpp" | ||
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| namespace nvidia { | ||
| namespace gxf { | ||
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| /** | ||
| * @brief A wrapper over EntityGroup C APIs to manage a programmable | ||
| * entity group in C++ API layer | ||
| * | ||
| */ | ||
| class EntityGroup { | ||
| public: | ||
| EntityGroup() = default; | ||
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| ~EntityGroup() = default; | ||
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| EntityGroup(const EntityGroup&) = delete; | ||
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| EntityGroup& operator=(const EntityGroup&) = delete; | ||
|
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| /** | ||
| * @brief Creates a programmable entity group with the runtime context and sets its name | ||
| * | ||
| * @param context A valid GXF context | ||
| * @param name Name of the graph entity | ||
| */ | ||
| Expected<void> setup(gxf_context_t context, const char* name); | ||
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| /** | ||
| * @brief Add single entity into this entity group. | ||
| * All Resouce components within the group will be automatically resolved to owner components | ||
| * that has corresponding type of Resource members registered. | ||
| * | ||
| * @param GraphEntityPtr An entity in C++ API representation | ||
| */ | ||
| Expected<void> add(GraphEntityPtr entity); | ||
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| /** | ||
| * @brief Add a list of entities into this entity group. | ||
| * All Resouce components within the group will be automatically resolved to owner components | ||
| * that has corresponding type of Resource members registered. | ||
| * | ||
| * @param entity_members A list of entities in C++ API representation | ||
| */ | ||
| Expected<void> add(std::vector<GraphEntityPtr> entity_members); | ||
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| /** | ||
| * @return This entity group ID. | ||
| */ | ||
| gxf_uid_t gid() const { return gid_; } | ||
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| /** | ||
| * @return This entity group name. | ||
| */ | ||
| std::string name() const { return name_; } | ||
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| private: | ||
| gxf_uid_t gid_{kNullUid}; | ||
| std::string name_; | ||
| std::map<std::string, GraphEntityPtr> entity_members_; | ||
| }; | ||
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| typedef std::shared_ptr<EntityGroup> EntityGroupPtr; | ||
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| } // namespace gxf | ||
| } // namespace nvidia | ||
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| #endif // NVIDIA_GXF_ENTITY_GROUP_HPP_ |
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