Fawkes API  Fawkes Development Version
node_thread.cpp
00001 
00002 /***************************************************************************
00003  *  node_thread.cpp - ROS node handle providing Thread
00004  *
00005  *  Created: Thu May 05 18:37:08 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "node_thread.h"
00024 
00025 #include <ros/ros.h>
00026 
00027 using namespace fawkes;
00028 
00029 /** @class ROSNodeThread "node_thread.h"
00030  * ROS node handle thread.
00031  * This thread maintains a ROS node which can be used by other
00032  * threads and is provided via the ROSAspect.
00033  *
00034  * @author Tim Niemueller
00035  */
00036 
00037 /** Constructor. */
00038 ROSNodeThread::ROSNodeThread()
00039   : Thread("ROSNodeThread", Thread::OPMODE_WAITFORWAKEUP),
00040     BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_POST_LOOP),
00041     AspectProviderAspect("ROSAspect", &__ros_aspect_inifin)
00042 {
00043 }
00044 
00045 
00046 /** Destructor. */
00047 ROSNodeThread::~ROSNodeThread()
00048 {
00049 }
00050 
00051 
00052 void
00053 ROSNodeThread::init()
00054 {
00055   if (! ros::isInitialized()) {
00056     int argc = 1;
00057     const char *argv[] = {"fawkes"};
00058     ros::init(argc, (char **)argv, "fawkes",
00059               (uint32_t)ros::init_options::NoSigintHandler);
00060   } else {
00061     logger->log_warn(name(), "ROS node already initialized");
00062   }
00063 
00064   if (ros::isStarted()) {
00065     logger->log_warn(name(), "ROS node already *started*");
00066   }
00067 
00068   __rosnode = new ros::NodeHandle();
00069 
00070   __ros_aspect_inifin.set_rosnode(__rosnode);
00071 }
00072 
00073 
00074 void
00075 ROSNodeThread::finalize()
00076 {
00077   __rosnode->shutdown();
00078 
00079   __rosnode.clear();
00080   __ros_aspect_inifin.set_rosnode(__rosnode);
00081 }
00082 
00083 
00084 void
00085 ROSNodeThread::loop()
00086 {
00087   ros::spinOnce();
00088 }