Program Listing for File core_functions.cpp

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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
 *  \file       core_functions.cpp
 *  \brief      Aerostack2 core functions implementation file.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
 *              All Rights Reserved
 ********************************************************************************/

#include "core_functions.hpp"

namespace as2
{
void spinLoop(std::shared_ptr<as2::Node> node, std::function<void()> run_function)
{
  node->configure();
  node->activate();

  if (node->get_loop_frequency() <= 0) {
    rclcpp::spin(node->get_node_base_interface());
    return;
  }

  while (rclcpp::ok()) {
    rclcpp::spin_some(node->get_node_base_interface());
    if (run_function != nullptr) {
      run_function();
    }
    if (!node->sleep()) {
      // TODO(miferco97): fix this
      // if sleep returns false, it means that loop rate cannot keep up with the desired rate
      // RCLCPP_INFO(
      //   node->get_logger(),
      //   "Spin loop rate exceeded, stable frequency [%.3f Hz] cannot be assured ",
      //   node->get_loop_frequency());
    }
  }
  // TODO(miferco97): improve this
  node->deactivate();
  node->cleanup();
  node->shutdown();
}

}  // namespace as2