#include <smacc_ros_launch_client_2.hpp>

Inheritance diagram for smacc2::client_bases::ClRosLaunch2:

Collaboration diagram for smacc2::client_bases::ClRosLaunch2:

Public Member Functions
	ClRosLaunch2 ()

	ClRosLaunch2 (std::string packageName, std::string launchFilename)

virtual	~ClRosLaunch2 ()

void	launch ()

void	stop ()

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	onInitialize ()

virtual std::string	getName () const

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

template<typename TComponent >
TComponent *	getComponent (int index)

virtual smacc2::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

Static Public Member Functions
static std::future< std::string >	executeRosLaunch (std::string packageName, std::string launchFilename, std::function< bool()> cancelCondition, ClRosLaunch2 *client=nullptr)

Public Attributes
std::string	packageName_

std::string	launchFileName_

pid_t	launchPid_

Protected Types
typedef std::function< void >	cancelCallback

Protected Attributes
std::future< std::string >	result_

std::atomic< bool >	cancellationToken_ = ATOMIC_VAR_INIT(false)

Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Static Protected Attributes
static std::map< std::future< void >, cancelCallback >	detached_futures_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

Detailed Description

Definition at line 43 of file smacc_ros_launch_client_2.hpp.

Member Typedef Documentation

◆ cancelCallback

std::function<void> smacc2::client_bases::ClRosLaunch2::cancelCallback

protected

Definition at line 73 of file smacc_ros_launch_client_2.hpp.

Constructor & Destructor Documentation

◆ ClRosLaunch2() [1/2]

smacc2::client_bases::ClRosLaunch2::ClRosLaunch2 ( )

Definition at line 41 of file smacc_ros_launch_client_2.cpp.

: /*packageName_(std::nullopt), launchFileName_(std::nullopt),*/ cancellationToken_(false)
{
}

◆ ClRosLaunch2() [2/2]

smacc2::client_bases::ClRosLaunch2::ClRosLaunch2	(	std::string	packageName,
		std::string	launchFilename )

Definition at line 46 of file smacc_ros_launch_client_2.cpp.

: packageName_(packageName), launchFileName_(launchFilename), cancellationToken_(false)
{
}

◆ ~ClRosLaunch2()

smacc2::client_bases::ClRosLaunch2::~ClRosLaunch2 ( )

virtual

Definition at line 51 of file smacc_ros_launch_client_2.cpp.

51{}

Member Function Documentation

◆ executeRosLaunch()

std::future< std::string > smacc2::client_bases::ClRosLaunch2::executeRosLaunch	(	std::string	packageName,
		std::string	launchFilename,
		std::function< bool()>	cancelCondition,
		ClRosLaunch2 *	client = nullptr )

static

Definition at line 69 of file smacc_ros_launch_client_2.cpp.

{
  return std::async(
    std::launch::async,
    [packageName, launchFileName, cancelCondition, client]()
    {
      RCLCPP_WARN_STREAM(rclcpp::get_logger("smacc2"), "[ClRosLaunch2] Starting ros launch thread");
 
      std::stringstream cmd;
      cmd << "ros2 launch " << packageName << " " << launchFileName;
      std::array<char, 128> buffer;
      std::string result;
 
      auto child = runProcess(cmd.str().c_str());
 
      if (!child.pipe)
      {
        throw std::runtime_error("popen() failed!");
      }
      if (client != nullptr)
      {
        client->launchPid_ = child.pid;
      }
 
      int fd = fileno(child.pipe);
 
      int flags = fcntl(fd, F_GETFL, 0);
      fcntl(fd, F_SETFL, flags | O_NONBLOCK);
 
      bool cancelled = false;
 
      // while (!cancelCondition())
      while (!cancelled)
      {
        cancelled = cancelCondition();
        size_t bytesRead = fread(buffer.data(), 1, buffer.size(), /*data*/ child.pipe);
 
        if (bytesRead > 0)
        {
          result.append(buffer.data(), bytesRead);
        }
        else if (bytesRead == 0)
        {
          // No se han leído más datos
          std::this_thread::sleep_for(
            std::chrono::milliseconds(100));  // Espera antes de intentar nuevamente
        }
        else
        {
          // Error de lectura
          RCLCPP_ERROR(rclcpp::get_logger("smacc2"), "Error de lectura en pipe");
          break;
        }
      }
 
      rclcpp::sleep_for(2s);
      if (child.pid > 0)
      {
        killGrandchildren(child.pid);
        rclcpp::sleep_for(2s);
      }
 
      int status;
      pid_t child_pid = child.pid;
      if (waitpid(child_pid, &status, 0) != -1)
      {
        if (WIFEXITED(status))
        {
          int exit_status = WEXITSTATUS(status);
          RCLCPP_INFO(
            rclcpp::get_logger("smacc2"), "Child process exited with status: %d", exit_status);
        }
        else if (WIFSIGNALED(status))
        {
          int term_signal = WTERMSIG(status);
          RCLCPP_WARN(
            rclcpp::get_logger("smacc2"), "Child process terminated by signal: %d", term_signal);
        }
      }
      else
      {
        RCLCPP_ERROR(rclcpp::get_logger("smacc2"), "Error waiting for child process.");
      }
 
      pclose(child.pipe);
      close(child.pipe->_fileno);  // Close pipe file descriptor but not processes
 
      RCLCPP_WARN_STREAM(rclcpp::get_logger("smacc2"), "[ClRosLaunch2] RESULT:\n" << result);
 
      // Devuelve una std::future con el resultado
      // return std::async(std::launch::async, [result]() { return result; });
      return result;
    });
}

References smacc2::client_bases::killGrandchildren(), launchPid_, and smacc2::client_bases::runProcess().

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch2::onEntry().

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◆ launch()

void smacc2::client_bases::ClRosLaunch2::launch ( )

Definition at line 53 of file smacc_ros_launch_client_2.cpp.

{
  cancellationToken_.store(false);
  // Iniciar el hilo para la ejecución del lanzamiento
  this->result_ = /*std::async([this]()*/
                  // {
    executeRosLaunch(packageName_, launchFileName_, [this]() { return cancellationToken_.load(); });
  // });
}

References cancellationToken_, executeRosLaunch(), launchFileName_, packageName_, and result_.

Referenced by smacc2::client_behaviors::CbRosLaunch2::onEntry().

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◆ stop()

void smacc2::client_bases::ClRosLaunch2::stop ( )

Definition at line 63 of file smacc_ros_launch_client_2.cpp.

{
  // Establecer la bandera de cancelación
  cancellationToken_.store(true);
}

References cancellationToken_.

Referenced by smacc2::client_behaviors::CbRosStop2::onEntry().

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Member Data Documentation

◆ cancellationToken_

std::atomic<bool> smacc2::client_bases::ClRosLaunch2::cancellationToken_ = ATOMIC_VAR_INIT(false)

protected

Definition at line 77 of file smacc_ros_launch_client_2.hpp.

Referenced by launch(), and stop().

◆ detached_futures_

std::map<std::future<void>, cancelCallback> smacc2::client_bases::ClRosLaunch2::detached_futures_

staticprotected

Definition at line 75 of file smacc_ros_launch_client_2.hpp.

◆ launchFileName_

std::string smacc2::client_bases::ClRosLaunch2::launchFileName_

Definition at line 65 of file smacc_ros_launch_client_2.hpp.

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch2::onEntry().

◆ launchPid_

pid_t smacc2::client_bases::ClRosLaunch2::launchPid_

Definition at line 67 of file smacc_ros_launch_client_2.hpp.

Referenced by executeRosLaunch().

◆ packageName_

std::string smacc2::client_bases::ClRosLaunch2::packageName_

Definition at line 63 of file smacc_ros_launch_client_2.hpp.

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch2::onEntry().

◆ result_

std::future<std::string> smacc2::client_bases::ClRosLaunch2::result_

protected

Definition at line 71 of file smacc_ros_launch_client_2.hpp.

Referenced by launch().

The documentation for this class was generated from the following files:

smacc2/include/smacc2/client_bases/smacc_ros_launch_client_2.hpp
smacc2/src/smacc2/client_bases/smacc_ros_launch_client_2.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ cancelCallback

Constructor & Destructor Documentation

◆ ClRosLaunch2() [1/2]

◆ ClRosLaunch2() [2/2]

◆ ~ClRosLaunch2()

Member Function Documentation

◆ executeRosLaunch()

◆ launch()

◆ stop()

Member Data Documentation

◆ cancellationToken_

◆ detached_futures_

◆ launchFileName_

◆ launchPid_

◆ packageName_

◆ result_