Program Listing for File smacc_ros_launch_client_2.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// 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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <smacc2/smacc_client.hpp>
#include <smacc2/smacc_state_machine.hpp>
#include <rclcpp_action/client.hpp>
#include <thread>
namespace smacc2
{
namespace client_bases
{
struct ProcessInfo
{
pid_t pid; // PID del proceso hijo
FILE * pipe; // Pipe para la salida del proceso hijo
};
ProcessInfo runProcess(const char * command);
void killGrandchildren(pid_t originalPid);
void killProcessesRecursive(pid_t pid);
class ClRosLaunch2 : public ISmaccClient
{
public:
ClRosLaunch2();
ClRosLaunch2(std::string packageName, std::string launchFilename);
virtual ~ClRosLaunch2();
void launch();
void stop();
static std::future<std::string> executeRosLaunch(
std::string packageName, std::string launchFilename, std::function<bool()> cancelCondition,
ClRosLaunch2 * client = nullptr);
// static std::string executeRosLaunch(
// std::string packageName, std::string launchFilename, std::function<bool()> cancelCondition);
std::string packageName_;
std::string launchFileName_;
pid_t launchPid_;
protected:
// std::future<std::string> result_;
std::future<std::string> result_;
typedef std::function<void> cancelCallback;
static std::map<std::future<void>, cancelCallback> detached_futures_;
std::atomic<bool> cancellationToken_ = ATOMIC_VAR_INIT(false);
};
} // namespace client_bases
} // namespace smacc2