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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/scoped_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 struct InitProxy 00064 { 00065 InitProxy() 00066 { 00067 const std::vector<std::string>& args = ROScppArgs(); 00068 int fake_argc = args.size(); 00069 char** fake_argv = new char*[args.size()]; 00070 for (std::size_t i = 0; i < args.size(); ++i) 00071 fake_argv[i] = strdup(args[i].c_str()); 00072 00073 ros::init(fake_argc, fake_argv, ROScppNodeName(), 00074 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 static void roscpp_init_or_stop(bool init) 00089 { 00090 // ensure we do not accidentally initialize ROS multiple times per process 00091 static boost::mutex lock; 00092 boost::mutex::scoped_lock slock(lock); 00093 00094 // once per process, we start a spinner 00095 static bool once = true; 00096 static boost::scoped_ptr<InitProxy> proxy; 00097 static boost::scoped_ptr<ros::AsyncSpinner> spinner; 00098 00099 // initialize only once 00100 if (once && init) 00101 { 00102 once = false; 00103 00104 // if ROS (cpp) is not initialized, we initialize it 00105 if (!ros::isInitialized()) 00106 { 00107 proxy.reset(new InitProxy()); 00108 spinner.reset(new ros::AsyncSpinner(1)); 00109 spinner->start(); 00110 } 00111 } 00112 00113 // shutdown if needed 00114 if (!init) 00115 { 00116 once = false; 00117 proxy.reset(); 00118 spinner.reset(); 00119 } 00120 } 00121 00122 void moveit::py_bindings_tools::roscpp_init() 00123 { 00124 roscpp_init_or_stop(true); 00125 } 00126 00127 void moveit::py_bindings_tools::roscpp_init(const std::string& node_name, boost::python::list& argv) 00128 { 00129 roscpp_set_arguments(node_name, argv); 00130 roscpp_init(); 00131 } 00132 00133 void moveit::py_bindings_tools::roscpp_init(boost::python::list& argv) 00134 { 00135 ROScppArgs() = stringFromList(argv); 00136 roscpp_init(); 00137 } 00138 00139 void moveit::py_bindings_tools::roscpp_shutdown() 00140 { 00141 roscpp_init_or_stop(false); 00142 } 00143 00144 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer() 00145 { 00146 roscpp_init(); 00147 } 00148 00149 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer(boost::python::list& argv) 00150 { 00151 roscpp_init(argv); 00152 } 00153 00154 moveit::py_bindings_tools::ROScppInitializer::ROScppInitializer(const std::string& node_name, boost::python::list& argv) 00155 { 00156 roscpp_init(node_name, argv); 00157 }