smacc2::client_bases Namespace Reference

Classes
class	ClRosLaunch
class	ClRosLaunch2
class	ISmaccActionClient
struct	ProcessInfo
class	SmaccActionClientBase
class	SmaccPublisherClient
class	SmaccServiceClient
class	SmaccServiceServerClient
class	SmaccSubscriberClient

Functions
ProcessInfo	runProcess (const char *command)
void	killGrandchildren (pid_t originalPid)
void	killProcessesRecursive (pid_t pid)

Function Documentation

killGrandchildren()

void smacc2::client_bases::killGrandchildren

(

pid_t

originalPid

)

Definition at line 249 of file smacc_ros_launch_client_2.cpp.

{ killProcessesRecursive(originalPid); }

References killProcessesRecursive().

Referenced by smacc2::client_bases::ClRosLaunch2::executeRosLaunch().

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killProcessesRecursive()

void smacc2::client_bases::killProcessesRecursive

(

pid_t

pid

)

Definition at line 205 of file smacc_ros_launch_client_2.cpp.

{
  std::string command = "pgrep -P " + std::to_string(pid);
  FILE * pipe = popen(command.c_str(), "r");
 
  if (!pipe)
  {
    std::cerr << "Error executing pgrep command." << std::endl;
    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("smacc2"), "Killed process %d", pid);
  }
}

References killProcessesRecursive().

Referenced by killGrandchildren(), and killProcessesRecursive().

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runProcess()

ProcessInfo smacc2::client_bases::runProcess

(

const char *

command

)

Additional functions

Definition at line 161 of file smacc_ros_launch_client_2.cpp.

{
  ProcessInfo info;
  info.pid = -1;  // Initialize PID to -1 (error sentinel)
  info.pipe = nullptr;
 
  int pipefd[2];  // File descriptors for the pipe
 
  if (pipe(pipefd) == -1)
  {
    perror("pipe");
    return info;
  }
 
  pid_t pid = fork();
 
  if (pid == 0)
  {
    // Child process
    close(pipefd[0]);                // Close read end in child
    dup2(pipefd[1], STDOUT_FILENO);  // Redirect stdout to pipe
    close(pipefd[1]);                // Close write end in child
 
    execl("/bin/sh", "/bin/sh", "-c", command, nullptr);  // Execute the command
 
    // execl only returns on error
    std::cerr << "Error executing command: " << command << std::endl;
    _exit(1);  // Use _exit to skip at exit handlers
  }
  else if (pid > 0)
  {
    // Parent process
    close(pipefd[1]);  // Close write end in parent
    info.pid = pid;
    info.pipe = fdopen(pipefd[0], "r");  // Open read end as text-mode FILE
  }
  else
  {
    std::cerr << "Error creating child process." << std::endl;
  }
 
  return info;
}

References smacc2::client_bases::ProcessInfo::pid, and smacc2::client_bases::ProcessInfo::pipe.

Referenced by smacc2::client_bases::ClRosLaunch2::executeRosLaunch().

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