init.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROSCPP_INIT_H 00036 #define ROSCPP_INIT_H 00037 00038 #include "ros/forwards.h" 00039 #include "ros/spinner.h" 00040 #include "common.h" 00041 00042 namespace ros 00043 { 00044 00045 namespace init_options 00046 { 00050 enum InitOption 00051 { 00056 NoSigintHandler = 1 << 0, 00059 AnonymousName = 1 << 1, 00063 NoRosout = 1 << 2, 00064 }; 00065 } 00066 typedef init_options::InitOption InitOption; 00067 00083 ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0); 00084 00093 ROSCPP_DECL void init(const M_string& remappings, const std::string& name, uint32_t options = 0); 00094 00103 ROSCPP_DECL void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0); 00104 00108 ROSCPP_DECL bool isInitialized(); 00112 ROSCPP_DECL bool isShuttingDown(); 00113 00124 ROSCPP_DECL void spin(); 00125 00138 ROSCPP_DECL void spin(Spinner& spinner); 00147 ROSCPP_DECL void spinOnce(); 00148 00152 ROSCPP_DECL void waitForShutdown(); 00153 00160 ROSCPP_DECL bool ok(); 00167 ROSCPP_DECL void shutdown(); 00168 00174 ROSCPP_DECL void requestShutdown(); 00175 00184 ROSCPP_DECL void start(); 00188 ROSCPP_DECL bool isStarted(); 00189 00196 ROSCPP_DECL CallbackQueue* getGlobalCallbackQueue(); 00197 00206 ROSCPP_DECL void removeROSArgs(int argc, const char* const* argv, V_string& args_out); 00207 00208 } 00209 00210 #endif