Node.cpp

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#include <csignal>

#include "bota_node/Node.hpp"

namespace bota_node
{
Node::Node(NodeHandlePtr nh) : nh_(std::move(nh)), workerManager_()
{
}

void Node::shutdown()
{
  // raise SIGINT, which will be caught by the owner of the node instance and initiates the shutdown
  // todo: is there a better way?
  raise(SIGINT);
}

bool setProcessPriority(int priority)
{
  sched_param params{};
  params.sched_priority = priority;
  if (sched_setscheduler(getpid(), SCHED_FIFO, &params) != 0)
  {
    ROS_WARN("Failed to set process priority to %d: %s. Check /etc/security/limits.conf for the rights.", priority,
             std::strerror(errno));
    return false;
  }
  return true;
}

}  // namespace bota_node