tmc_coe_ros_node.cpp

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#include <signal.h>
#include "tmc_coe_ros.h"
 
 
 
/* Globals */
TmcCoeROS *p_tmc_coe = nullptr;
bool g_shutdown_signal = false;
 
/* Function Prototypes */
void graceful_shutdown();
void signal_callback_handler(int signum);
 
void graceful_shutdown()
{
  ROS_INFO_STREAM("> Initiating graceful shutdown...");
  p_tmc_coe->deInit();
  ROS_INFO_STREAM("> TMC CoE Deinitialized");
  
  delete p_tmc_coe;
  p_tmc_coe = nullptr;
 
  ros::shutdown();
}
 
void signal_callback_handler(int signum)
{
  ROS_INFO_STREAM("> Caught signal: " << signum << ". Terminating...");
  g_shutdown_signal = true;
}
 
int main(int argc, char** argv)
{
 
#ifdef DEBUG
  if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
  {
    ros::console::notifyLoggerLevelsChanged();
  }
#endif
 
  /* Initialize ROS */
  ros::init(argc, argv, "tmc_coe_ros_node", ros::init_options::NoSigintHandler);
  ros::NodeHandle nh;
 
  try
  {
    ROS_INFO_STREAM("> Starting adi_tmc_coe ...");
    signal(SIGINT, signal_callback_handler);
    signal(SIGTERM, signal_callback_handler);
  
    ROS_INFO_STREAM("> Initializing adi_tmc_coe ...");
    ros::AsyncSpinner spinner(0);
    p_tmc_coe = new TmcCoeROS(&nh);
 
    if(p_tmc_coe->initialize())
    {
      ROS_INFO_STREAM("> Successfully initialized TMC CoE Interpreter.\n\n");
      spinner.start();
      while(!g_shutdown_signal && ros::ok() && !p_tmc_coe->isInterfaceUnresponsive())
      {
        // Thread running on background 
      }
      spinner.stop();
      throw-1; 
    }
    else
    {
      ROS_ERROR_STREAM("[ERROR] Initializing TMC CoE Interpreter failed!, restart node");
      throw-1; 
    }
  }
  catch(...)
  {
    ROS_ERROR_STREAM("[ERROR] Exception encountered. Exiting...");
    graceful_shutdown();
  }
 
  return (0);
}