cl_px4_mr::CpMicroRosAgent Class Reference

#include <cp_micro_ros_agent.hpp>

Inheritance diagram for cl_px4_mr::CpMicroRosAgent:

Collaboration diagram for cl_px4_mr::CpMicroRosAgent:

Public Member Functions
	CpMicroRosAgent (std::string command="ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log", std::string nodeName="/px4_micro_xrce_dds")
virtual	~CpMicroRosAgent ()
void	launch ()
void	shutdown ()
bool	isLaunched () const
pid_t	getPid () const
std::string	getNodeName () const
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Static Private Member Functions
static void	killProcessesRecursive (pid_t pid)

Private Attributes
pid_t	agentPid_ = -1
std::atomic< bool >	launched_ {false}
std::atomic< bool >	shutdownRequested_ {false}
std::string	command_
std::string	nodeName_
std::mutex	mutex_
int	pipeFd_ = -1

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 26 of file cp_micro_ros_agent.hpp.

Constructor & Destructor Documentation

CpMicroRosAgent()

cl_px4_mr::CpMicroRosAgent::CpMicroRosAgent	(	std::string	command = "ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log",
		std::string	nodeName = "/px4_micro_xrce_dds" )

Definition at line 32 of file cp_micro_ros_agent.cpp.

: command_(std::move(command)), nodeName_(std::move(nodeName))
{
}

~CpMicroRosAgent()

cl_px4_mr::CpMicroRosAgent::~CpMicroRosAgent ( )

virtual

Definition at line 37 of file cp_micro_ros_agent.cpp.

{ shutdown(); }

References shutdown().

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Member Function Documentation

getNodeName()

std::string cl_px4_mr::CpMicroRosAgent::getNodeName

(

)

const

Definition at line 166 of file cp_micro_ros_agent.cpp.

{ return nodeName_; }

References nodeName_.

Referenced by cl_px4_mr::CbConnectMicroRosAgent::onEntry().

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getPid()

pid_t cl_px4_mr::CpMicroRosAgent::getPid

(

)

const

Definition at line 160 of file cp_micro_ros_agent.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return agentPid_;
}

References agentPid_, and mutex_.

isLaunched()

bool cl_px4_mr::CpMicroRosAgent::isLaunched

(

)

const

Definition at line 158 of file cp_micro_ros_agent.cpp.

{ return launched_; }

References launched_.

Referenced by cl_px4_mr::CbConnectMicroRosAgent::onEntry().

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killProcessesRecursive()

void cl_px4_mr::CpMicroRosAgent::killProcessesRecursive ( pid_t pid )

staticprivate

Definition at line 168 of file cp_micro_ros_agent.cpp.

{
  std::string command = "pgrep -P " + std::to_string(pid);
  FILE * pipe = popen(command.c_str(), "r");
 
  if (!pipe)
  {
    return;
  }
 
  char buffer[128];
  std::string result;
 
  while (fgets(buffer, sizeof(buffer), pipe) != NULL)
  {
    result += buffer;
  }
 
  pclose(pipe);
 
  std::istringstream iss(result);
  pid_t childPid;
  std::vector<pid_t> childPids;
 
  while (iss >> childPid)
  {
    childPids.push_back(childPid);
  }
 
  // Kill child processes before killing the parent process
  for (const pid_t & child : childPids)
  {
    killProcessesRecursive(child);
  }
 
  // After killing all children, kill the parent process
  int res = kill(pid, SIGTERM);
  if (res == 0)
  {
    RCLCPP_FATAL(rclcpp::get_logger("CpMicroRosAgent"), "Killed process %d", pid);
  }
}

References killProcessesRecursive().

Referenced by killProcessesRecursive(), and shutdown().

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launch()

void cl_px4_mr::CpMicroRosAgent::launch

(

)

Definition at line 39 of file cp_micro_ros_agent.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (launched_)
  {
    RCLCPP_INFO(getLogger(), "CpMicroRosAgent: already launched, skipping");
    return;
  }
 
  RCLCPP_INFO(getLogger(), "CpMicroRosAgent: launching '%s'", command_.c_str());
 
  int pipefd[2];
  if (pipe(pipefd) == -1)
  {
    RCLCPP_ERROR(getLogger(), "CpMicroRosAgent: pipe() failed: %s", strerror(errno));
    return;
  }
 
  pid_t pid = fork();
 
  if (pid == 0)
  {
    // Child process
    close(pipefd[0]);
    dup2(pipefd[1], STDOUT_FILENO);
    dup2(pipefd[1], STDERR_FILENO);
    close(pipefd[1]);
 
    execl("/bin/sh", "/bin/sh", "-c", command_.c_str(), nullptr);
 
    // If execl returns, it failed
    _exit(1);
  }
  else if (pid > 0)
  {
    // Parent process
    close(pipefd[1]);
    agentPid_ = pid;
    pipeFd_ = pipefd[0];
 
    // Set pipe to non-blocking
    int flags = fcntl(pipeFd_, F_GETFL, 0);
    fcntl(pipeFd_, F_SETFL, flags | O_NONBLOCK);
 
    // Spawn detached reader thread to drain pipe (prevents buffer fill)
    shutdownRequested_ = false;
    std::thread readerThread(
      [this]()
      {
        char buf[256];
        while (!shutdownRequested_)
        {
          ssize_t n = read(pipeFd_, buf, sizeof(buf) - 1);
          if (n > 0)
          {
            buf[n] = '\0';
            RCLCPP_DEBUG(getLogger(), "[micro_ros_agent] %s", buf);
          }
          else
          {
            std::this_thread::sleep_for(std::chrono::milliseconds(100));
          }
        }
      });
    readerThread.detach();
 
    launched_ = true;
    RCLCPP_INFO(getLogger(), "CpMicroRosAgent: launched with PID %d", agentPid_);
  }
  else
  {
    RCLCPP_ERROR(getLogger(), "CpMicroRosAgent: fork() failed: %s", strerror(errno));
    close(pipefd[0]);
    close(pipefd[1]);
  }
}

References agentPid_, command_, smacc2::ISmaccComponent::getLogger(), launched_, mutex_, pipeFd_, and shutdownRequested_.

Referenced by cl_px4_mr::CbConnectMicroRosAgent::onEntry().

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shutdown()

void cl_px4_mr::CpMicroRosAgent::shutdown

(

)

Definition at line 117 of file cp_micro_ros_agent.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (agentPid_ <= 0)
  {
    return;
  }
 
  RCLCPP_INFO(getLogger(), "CpMicroRosAgent: shutting down agent (PID %d)", agentPid_);
 
  shutdownRequested_ = true;
 
  // Kill process tree recursively
  killProcessesRecursive(agentPid_);
 
  // Reap zombie with brief retry loop
  for (int i = 0; i < 10; i++)
  {
    int status;
    pid_t result = waitpid(agentPid_, &status, WNOHANG);
    if (result == agentPid_ || result == -1)
    {
      break;
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
  }
 
  // Close pipe
  if (pipeFd_ >= 0)
  {
    close(pipeFd_);
    pipeFd_ = -1;
  }
 
  agentPid_ = -1;
  launched_ = false;
 
  RCLCPP_INFO(getLogger(), "CpMicroRosAgent: shutdown complete");
}

References agentPid_, smacc2::ISmaccComponent::getLogger(), killProcessesRecursive(), launched_, mutex_, pipeFd_, and shutdownRequested_.

Referenced by ~CpMicroRosAgent().

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Member Data Documentation

agentPid_

pid_t cl_px4_mr::CpMicroRosAgent::agentPid_ = -1

private

Definition at line 44 of file cp_micro_ros_agent.hpp.

Referenced by getPid(), launch(), and shutdown().

command_

std::string cl_px4_mr::CpMicroRosAgent::command_

private

Definition at line 47 of file cp_micro_ros_agent.hpp.

Referenced by launch().

launched_

std::atomic<bool> cl_px4_mr::CpMicroRosAgent::launched_ {false}

private

Definition at line 45 of file cp_micro_ros_agent.hpp.

{false};

Referenced by isLaunched(), launch(), and shutdown().

mutex_

std::mutex cl_px4_mr::CpMicroRosAgent::mutex_

mutableprivate

Definition at line 49 of file cp_micro_ros_agent.hpp.

Referenced by getPid(), launch(), and shutdown().

nodeName_

std::string cl_px4_mr::CpMicroRosAgent::nodeName_

private

Definition at line 48 of file cp_micro_ros_agent.hpp.

Referenced by getNodeName().

pipeFd_

int cl_px4_mr::CpMicroRosAgent::pipeFd_ = -1

private

Definition at line 50 of file cp_micro_ros_agent.hpp.

Referenced by launch(), and shutdown().

shutdownRequested_

std::atomic<bool> cl_px4_mr::CpMicroRosAgent::shutdownRequested_ {false}

private

Definition at line 46 of file cp_micro_ros_agent.hpp.

{false};

Referenced by launch(), and shutdown().

---

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

• smacc2_client_library/cl_px4_mr/include/cl_px4_mr/components/cp_micro_ros_agent.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_micro_ros_agent.cpp