Example #1
0
        /// <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();
            }
        }
Example #2
0
        /// <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();
                }
            }
        }