00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, 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 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 /* Author: Ioan Sucan */ 00036 00037 #include "moveit/py_bindings_tools/roscpp_initializer.h" 00038 #include "moveit/py_bindings_tools/py_conversions.h" 00039 #include <boost/thread.hpp> 00040 #include <boost/shared_ptr.hpp> 00041 #include <ros/ros.h> 00042 00043 static std::vector<std::string>& ROScppArgs() 00044 { 00045 static std::vector<std::string> args; 00046 return args; 00047 } 00048 00049 static std::string& ROScppNodeName() 00050 { 00051 static std::string node_name("moveit_python_wrappers"); 00052 return node_name; 00053 } 00054 00055 void moveit::py_bindings_tools::roscpp_set_arguments(const std::string &node_name, boost::python::list &argv) 00056 { 00057 ROScppNodeName() = node_name; 00058 ROScppArgs() = stringFromList(argv); 00059 } 00060 00061 namespace 00062 { 00063 00064 struct InitProxy 00065 { 00066 InitProxy() 00067 { 00068 const std::vector<std::string> &args = ROScppArgs(); 00069 int fake_argc = args.size(); 00070 char **fake_argv = new char*[args.size()]; 00071 for (std::size_t i = 0 ; i < args.size() ; ++i) 00072 fake_argv[i] = strdup(args[i].c_str()); 00073 00074 ros::init(fake_argc, fake_argv, ROScppNodeName(), ros::init_options::AnonymousName | ros::init_options::NoSigintHandler); 00075 for (int i = 0 ; i < fake_argc ; ++i) 00076 delete[] fake_argv[i]; 00077 delete[] fake_argv; 00078 } 00079 00080 ~InitProxy() 00081 { 00082 if (ros::isInitialized() && !ros::isShuttingDown()) 00083 ros::shutdown(); 00084 } 00085 }; 00086 00087 } 00088 00089 static void roscpp_init_or_stop(bool init) 00090 { 00091 // ensure we do not accidentally initialize ROS multiple times per process 00092 static boost::mutex lock; 00093 boost::mutex::scoped_lock slock(lock); 00094 00095 // once per process, we start a spinner 00096 static bool once = true; 00097 static boost::scoped_ptr<InitProxy> proxy; 00098 static boost::scoped_ptr<ros::AsyncSpinner> spinner; 00099 00100 // initialize only once 00101 if (once && init) 00102 { 00103 once = false; 00104 00105 // if ROS (cpp) is not initialized, we initialize it 00106 if (!ros::isInitialized()) 00107 { 00108 proxy.reset(new InitProxy()); 00109 spinner.reset(new ros::AsyncSpinner(1)); 00110 spinner->start(); 00111 } 00112 } 00113 00114 // shutdown if needed 00115 if (!init) 00116 { 00117 once = false; 00118 proxy.reset(); 00119 spinner.reset(); 00120 } 00121 } 00122 00123 void moveit::py_bindings_tools::roscpp_init() 00124 { 00125 roscpp_init_or_stop(true); 00126 } 00127 00128 void moveit::py_bindings_tools::roscpp_init(const std::string &node_name, boost::python::list &argv) 00129 { 00130 roscpp_set_arguments(node_name, argv); 00131 roscpp_init(); 00132 } 00133 00134 void moveit::py_bindings_tools::roscpp_init(boost::python::list &argv) 00135 { 00136 ROScppArgs() = stringFromList(argv); 00137 roscpp_init(); 00138 } 00139 00140 void moveit::py_bindings_tools::roscpp_shutdown() 00141 { 00142 roscpp_init_or_stop(false); 00143 } 00144 00145 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer() 00146 { 00147 roscpp_init(); 00148 } 00149 00150 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer(boost::python::list &argv) 00151 { 00152 roscpp_init(argv); 00153 } 00154 00155 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer(const std::string &node_name, boost::python::list &argv) 00156 { 00157 roscpp_init(node_name, argv); 00158 }