nodelet.cc

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/*
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *
 *  License: Modified BSD Software License Agreement
 *

 Copyright (C) 2010-2013 Austin Robot Technology, and others
 All rights reserved.


Modified BSD License:
--------------------

  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions
  are met:

    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above
      copyright notice, this list of conditions and the following
      disclaimer in the documentation and/or other materials provided
      with the distribution.

    * Neither the names of the University of Texas at Austin, nor
      Austin Robot Technology, nor the names of other contributors may
      be used to endorse or promote products derived from this
      software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
 */

#include <string>
#include <boost/thread.hpp>

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include "rsdriver.h"

volatile sig_atomic_t flag = 1;

namespace rslidar_driver
{
class DriverNodelet : public nodelet::Nodelet
{
public:
  DriverNodelet() : running_(false)
  {
  }

  ~DriverNodelet()
  {
    if (running_)
    {
      NODELET_INFO("shutting down driver thread");
      running_ = false;
      deviceThread_->join();
      NODELET_INFO("driver thread stopped");
    }
  }

private:
  virtual void onInit(void);
  virtual void devicePoll(void);

  volatile bool running_;  
  boost::shared_ptr<boost::thread> deviceThread_;

  boost::shared_ptr<rslidarDriver> dvr_;  
};

void DriverNodelet::onInit()
{
  // start the driver
  dvr_.reset(new rslidarDriver(getNodeHandle(), getPrivateNodeHandle()));

  // spawn device poll thread
  running_ = true;
  deviceThread_ = boost::shared_ptr<boost::thread>(new boost::thread(boost::bind(&DriverNodelet::devicePoll, this)));
  // NODELET_INFO("DriverNodelet onInit");
}

void DriverNodelet::devicePoll()
{
  while (ros::ok() && dvr_->poll())
  {
    ros::spinOnce();
  }
}
}

// Register this plugin with pluginlib.  Names must match nodelet_velodyne.xml.
//
// parameters are: class type, base class type
PLUGINLIB_EXPORT_CLASS(rslidar_driver::DriverNodelet, nodelet::Nodelet)