/// <summary>
/// Internal ROS deinitialization method. Called by checkForShutdown.
/// </summary>
private static void _shutdown()
{
if (started)
{
logger.LogInformation("ROS is shutting down.");
RaiseRosShuttingDown();
SimTime.Terminate();
RosOutAppender.Terminate();
GlobalNodeHandle.Shutdown().Wait();
GlobalCallbackQueue.Disable();
GlobalCallbackQueue.Clear();
XmlRpcManager.Instance.Unbind("shutdown");
Param.Terminate();
TopicManager.Terminate();
ServiceManager.Terminate();
XmlRpcManager.Terminate();
ConnectionManager.Terminate();
lock (startMutex)
{
started = false;
ResetStaticMembers();
}
RaiseRosShutDown();
}
}
/// <summary>
/// Initializes ROS
/// </summary>
/// <param name="remappingArgs"> dictionary of remapping args </param>
/// <param name="name"> node name </param>
/// <param name="options"> options </param>
public static void Init(IDictionary <string, string> remappingArgs, string name, InitOptions options = 0)
{
lock (typeof(ROS))
{
// register process unload and cancel (CTRL+C) event handlers
if (!atExitRegistered)
{
atExitRegistered = true;
#if NETCORE
AssemblyLoadContext.Default.Unloading += (AssemblyLoadContext obj) =>
{
Shutdown();
WaitForShutdown();
};
#else
Process.GetCurrentProcess().EnableRaisingEvents = true;
Process.GetCurrentProcess().Exited += (o, args) =>
{
Shutdown();
WaitForShutdown();
};
#endif
Console.CancelKeyPress += (o, args) =>
{
Shutdown();
WaitForShutdown();
args.Cancel = true;
};
}
// crate global callback queue
if (globalCallbackQueue == null)
{
globalCallbackQueue = new CallbackQueue();
}
// run the actual ROS initialization
if (!initialized)
{
MessageTypeRegistry.Default.Reset();
ServiceTypeRegistry.Default.Reset();
var msgRegistry = MessageTypeRegistry.Default;
var srvRegistry = ServiceTypeRegistry.Default;
// Load RosMessages from MessageBase assembly
msgRegistry.ParseAssemblyAndRegisterRosMessages(typeof(RosMessage).GetTypeInfo().Assembly);
// Load RosMessages from all assemblies that reference Uml.Robotics.Ros.MessageBas
var candidates = MessageTypeRegistry.GetCandidateAssemblies("Uml.Robotics.Ros.MessageBase");
foreach (var assembly in candidates)
{
logger.LogDebug($"Parse assembly: {assembly.Location}");
msgRegistry.ParseAssemblyAndRegisterRosMessages(assembly);
srvRegistry.ParseAssemblyAndRegisterRosServices(assembly);
}
initOptions = options;
_ok = true;
Param.Reset();
SimTime.Reset();
RosOutAppender.Reset();
Network.Init(remappingArgs);
Master.Init(remappingArgs);
ThisNode.Init(name, remappingArgs, options);
Param.Init(remappingArgs);
SimTime.Instance.SimTimeEvent += SimTimeCallback;
lock (shuttingDownMutex)
{
switch (shutdownTask?.Status)
{
case null:
case TaskStatus.RanToCompletion:
break;
default:
throw new InvalidOperationException("ROS was not shut down correctly");
}
shutdownTask = new Task(_shutdown);
}
initialized = true;
GlobalNodeHandle = new NodeHandle(ThisNode.Namespace, remappingArgs);
RosOutAppender.Instance.Start();
}
}
}