Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * ros_inifin.cpp - Fawkes ROSAspect initializer/finalizer 00004 * 00005 * Created: Thu May 05 16:03:34 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. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #include <plugins/ros/aspect/ros_inifin.h> 00025 #include <core/threading/thread_finalizer.h> 00026 #include <ros/node_handle.h> 00027 00028 namespace fawkes { 00029 #if 0 /* just to make Emacs auto-indent happy */ 00030 } 00031 #endif 00032 00033 /** @class ROSAspectIniFin <plugins/ros/aspect/ros_inifin.h> 00034 * ROSAspect initializer/finalizer. 00035 * This initializer/finalizer will provide the ROS node handle to 00036 * threads with the ROSAspect. 00037 * @author Tim Niemueller 00038 */ 00039 00040 /** Constructor. */ 00041 ROSAspectIniFin::ROSAspectIniFin() 00042 : AspectIniFin("ROSAspect") 00043 { 00044 } 00045 00046 void 00047 ROSAspectIniFin::init(Thread *thread) 00048 { 00049 ROSAspect *ros_thread; 00050 ros_thread = dynamic_cast<ROSAspect *>(thread); 00051 if (ros_thread == NULL) { 00052 throw CannotInitializeThreadException("Thread '%s' claims to have the " 00053 "ROSAspect, but RTTI says it " 00054 "has not. ", thread->name()); 00055 } 00056 if (! __rosnode) { 00057 throw CannotInitializeThreadException("ROS node handle has not been set."); 00058 } 00059 00060 ros_thread->init_ROSAspect(__rosnode); 00061 } 00062 00063 void 00064 ROSAspectIniFin::finalize(Thread *thread) 00065 { 00066 ROSAspect *ros_thread; 00067 ros_thread = dynamic_cast<ROSAspect *>(thread); 00068 if (ros_thread == NULL) { 00069 throw CannotFinalizeThreadException("Thread '%s' claims to have the " 00070 "ROSAspect, but RTTI says it " 00071 "has not. ", thread->name()); 00072 } 00073 ros_thread->finalize_ROSAspect(); 00074 } 00075 00076 00077 /** Set the ROS node handle to use for aspect initialization. 00078 * @param rosnode ROS node handle to pass to threads with ROSAspect. 00079 */ 00080 void 00081 ROSAspectIniFin::set_rosnode(LockPtr<ros::NodeHandle> rosnode) 00082 { 00083 __rosnode = rosnode; 00084 } 00085 00086 } // end namespace fawkes