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init_options.cpp
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146 lines (128 loc) · 4.09 KB
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License 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 "rclcpp/init_options.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/logging.hpp"
namespace rclcpp
{
InitOptions::InitOptions(rcl_allocator_t allocator)
: init_options_(new rcl_init_options_t)
{
*init_options_ = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(init_options_.get(), allocator);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl init options");
}
}
InitOptions::InitOptions(const rcl_init_options_t & init_options)
: init_options_(new rcl_init_options_t)
{
*init_options_ = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_copy(&init_options, init_options_.get());
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to copy rcl init options");
}
}
InitOptions::InitOptions(const InitOptions & other)
: InitOptions(*other.get_rcl_init_options())
{
shutdown_on_signal = other.shutdown_on_signal;
initialize_logging_ = other.initialize_logging_;
}
bool
InitOptions::auto_initialize_logging() const
{
return initialize_logging_;
}
InitOptions &
InitOptions::auto_initialize_logging(bool initialize_logging)
{
initialize_logging_ = initialize_logging;
return *this;
}
InitOptions &
InitOptions::operator=(const InitOptions & other)
{
if (this != &other) {
std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
this->finalize_init_options_impl();
rcl_ret_t ret = rcl_init_options_copy(other.get_rcl_init_options(), init_options_.get());
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to copy rcl init options");
}
this->shutdown_on_signal = other.shutdown_on_signal;
this->initialize_logging_ = other.initialize_logging_;
}
return *this;
}
InitOptions::~InitOptions()
{
this->finalize_init_options();
}
void
InitOptions::finalize_init_options()
{
std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
this->finalize_init_options_impl();
}
void
InitOptions::finalize_init_options_impl()
{
if (init_options_) {
rcl_ret_t ret = rcl_init_options_fini(init_options_.get());
if (RCL_RET_OK != ret) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"failed to finalize rcl init options: %s", rcl_get_error_string().str);
rcl_reset_error();
}
*init_options_ = rcl_get_zero_initialized_init_options();
}
}
const rcl_init_options_t *
InitOptions::get_rcl_init_options() const
{
return init_options_.get();
}
void
InitOptions::use_default_domain_id()
{
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
rcl_ret_t ret = rcl_get_default_domain_id(&domain_id);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get default domain id");
}
set_domain_id(domain_id);
}
void
InitOptions::set_domain_id(size_t domain_id)
{
std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
rcl_ret_t ret = rcl_init_options_set_domain_id(init_options_.get(), domain_id);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set domain id to rcl init options");
}
}
size_t
InitOptions::get_domain_id() const
{
std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
size_t domain_id;
rcl_ret_t ret = rcl_init_options_get_domain_id(init_options_.get(), &domain_id);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from rcl init options");
}
return domain_id;
}
} // namespace rclcpp