main.cpp

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/*
 * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License").
 * You may not use this file except in compliance with the License.
 * A copy of the License is located at
 *
 *  http://aws.amazon.com/apache2.0
 *
 * or in the "license" file accompanying this file. This file is distributed
 * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
 * express or implied. See the License for the specific language governing
 * permissions and limitations under the License.
 */

#include <aws/core/Aws.h>
#include <aws/core/config/AWSProfileConfigLoader.h>
#include <aws/core/utils/logging/AWSLogging.h>
#include <aws/core/utils/logging/LogMacros.h>
#include <aws_ros1_common/sdk_utils/logging/aws_ros_logger.h>
#include <aws_ros1_common/sdk_utils/ros1_node_parameter_reader.h>
#include <lex_node/lex_node.h>
#include <ros/ros.h>

#include <lex_common/error_codes.h>
#include <lex_common/lex_common.h>

void shutdown(const Aws::SDKOptions &options) {
  AWS_LOG_INFO(__func__, "Shutting down Lex Node...");
  Aws::Utils::Logging::ShutdownAWSLogging();
  Aws::ShutdownAPI(options);
  ros::shutdown();
}

int main(int argc, char *argv[]) {
  ros::init(argc, argv, "lex_node");

  Aws::Utils::Logging::InitializeAWSLogging(
      Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>("lex_node"));
  Aws::SDKOptions options;
  Aws::InitAPI(options);

  Aws::Lex::LexNode lex_node;
  {
    // Build a lex interactor and give it to the lex node to use it.
    // Lex has an internal conversation session, therefore the lex interactor
    // should only be available for use by one point of entry.
    auto lex_interactor = std::make_shared<Aws::Lex::LexInteractor>();
    auto params = std::make_shared<Aws::Client::Ros1NodeParameterReader>();
    auto error_code = Aws::Lex::BuildLexInteractor(params, *lex_interactor);
    if (error_code != Aws::Lex::ErrorCode::SUCCESS) {
      shutdown(options);
      return error_code;
    }
    lex_node.Init(std::move(lex_interactor));
  }
  AWS_LOG_INFO(__func__, "Starting Lex Node...");

  // blocking here, waiting until shutdown.
  ros::spin();

  AWS_LOG_INFO(__func__, "Shutting down Lex Node...");
  shutdown(options);

  return Aws::Lex::ErrorCode::SUCCESS;
}