executor.cpp

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#include <locomotor/executor.h>

namespace locomotor
{
Executor::Executor(const ros::NodeHandle& base_nh, bool create_cb_queue)
  : ex_nh_(base_nh)
{
  if (create_cb_queue)
  {
    queue_ = std::make_shared<ros::CallbackQueue>();
    ros::CallbackQueue* raw_queue_ptr = queue_.get();

    spinner_ = std::make_shared<ros::AsyncSpinner>(1, raw_queue_ptr);
    spinner_->start();

    ex_nh_.setCallbackQueue(raw_queue_ptr);
  }
  else
  {
    queue_ = nullptr;
    spinner_ = nullptr;
  }
}

const ros::NodeHandle& Executor::getNodeHandle() const
{
  return ex_nh_;
}

void Executor::addCallback(LocomotorCallback::Function f)
{
  getQueue().addCallback(boost::make_shared<LocomotorCallback>(f));
}

ros::CallbackQueue& Executor::getQueue()
{
  if (queue_) return *queue_;
  return *ros::getGlobalCallbackQueue();
}

}  // namespace locomotor