app_loader.cpp

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#include "app_loader/app_loader.h"

namespace app_loader{

    AppLoader::AppLoader()
    {
        ros::NodeHandle private_nh("~");
        ros::NodeHandle nh;

        rtp_manager_destroy_ = false;

        //get app name and type
        private_nh.param("app_name", app_name_, std::string("app_demo"));
        private_nh.param("app_type", app_type_, std::string("micros_swarm/AppDemo"));

        ros::ServiceClient client = nh.serviceClient<app_loader::AppLoad>("app_loader_load_app");
        app_loader::AppLoad srv;
        srv.request.name = app_name_;
        srv.request.type = app_type_;
        if (client.call(srv))
        {
            ROS_INFO("[AppLoader]: App %s loaded successfully.", app_name_.c_str());
        }
        else
        {
            ROS_ERROR("[AppLoader]: Failed to load App %s.", app_name_.c_str());
        }

        //when the rtp manager was destroyed, automatically unload the apps
        std::string topic_name = "runtime_core_destroy_" + app_name_;
        rtp_manager_destroy_srv_ = nh.advertiseService(topic_name, &AppLoader::rtpManagerDestroyCB, this);
    }

    AppLoader::~AppLoader()
    {
        rtp_manager_destroy_srv_.shutdown();
        if(!rtp_manager_destroy_) {
            ros::NodeHandle nh;
            ros::ServiceClient client = nh.serviceClient<app_loader::AppUnload>("app_loader_unload_app");
            app_loader::AppUnload srv;
            srv.request.name = app_name_;
            srv.request.type = app_type_;

            if (client.call(srv)) {
                ROS_INFO("[AppLoader]: App %s was unloaded successfully.", app_name_.c_str());
            } else {
                ROS_ERROR("[AppLoader]: Failed to unload App %s.", app_name_.c_str());
            }
        }
        else{
            ROS_INFO("RTPManager was destroyed before the AppLoader.");
        }
    }

    bool AppLoader::rtpManagerDestroyCB(app_loader::RTDestroy::Request &req, app_loader::RTDestroy::Response &resp)
    {
        resp.success = false;
        if(req.code == 1) {
            rtp_manager_destroy_ = true;
            resp.success = true;
        }

        ros::shutdown();
        return true;
    }

    bool AppLoader::ok()
    {
        return !rtp_manager_destroy_;
    }
};