From d06644fad29189c99540a11c3a7abc0eb0101a9b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 3 Apr 2017 11:10:50 +0200
Subject: [PATCH] Removed the AbstractAlgorithmNode base class. Added a
ros::nodeHandle to the class constructor (with default value). Removed the
test functions (already commented).
---
.../iri_base_algorithm/iri_base_algorithm.h | 46 ++++++-------------
1 file changed, 14 insertions(+), 32 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 492edfe..9c5064c 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -35,21 +35,6 @@
namespace algorithm_base
{
-/**
- * \brief Abstract Class for Ctrl+C management
- *
- */
-class AbstractAlgorithmNode
-{
- protected:
-
- static void hupCalled(int sig)
- {
- ROS_WARN("Unexpected SIGHUP caught. Ignoring it.");
- }
-
-};
-
/**
* \brief IRI ROS Algorithm Base Node Class
*
@@ -75,7 +60,7 @@ class AbstractAlgorithmNode
* mainNodeThread() function defined in the inherit node class is called.
*/
template <class Algorithm>
-class IriBaseAlgorithm : public AbstractAlgorithmNode
+class IriBaseAlgorithm
{
public:
/**
@@ -159,7 +144,7 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
* loop_rate_ and the diagnostic updater. It also instantiates the main
* thread of the class and the dynamic reconfigure callback.
*/
- IriBaseAlgorithm(void);
+ IriBaseAlgorithm(const ros::NodeHandle &nh = ros::NodeHandle("~"));
/**
* \brief destructor
@@ -239,13 +224,6 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
*/
virtual void addNodeDiagnostics(void) = 0;
-// void addOpenedTests(void);
-// void addStoppedTests(void);
-// void addRunningTests(void);
-// virtual void addNodeOpenedTests(void) = 0;
-// virtual void addNodeStoppedTests(void) = 0;
-// virtual void addNodeRunningTests(void) = 0;
-
/**
* \brief main node thread
*
@@ -268,12 +246,14 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
* have to be detailed.
*/
virtual void mainNodeThread(void) = 0;
+
+ static void hupCalled(int sig);
};
template <class Algorithm>
-IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
- public_node_handle_(ros::this_node::getName()),
+IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm(const ros::NodeHandle &nh) :
+ public_node_handle_(nh),
private_node_handle_("~"),
loop_rate_(DEFAULT_RATE),
diagnostic_(),
@@ -281,9 +261,8 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
{
ROS_DEBUG("IriBaseAlgorithm::Constructor");
-// // assign callback to dynamic reconfigure server
-// dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
-
+ // allow Ctrl+C management
+ signal(SIGHUP, &IriBaseAlgorithm<Algorithm>::hupCalled);
}
template <class Algorithm>
@@ -330,6 +309,12 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
pthread_exit(NULL);
}
+template <class Algorithm>
+void IriBaseAlgorithm<Algorithm>::hupCalled(int sig)
+{
+ ROS_WARN("Unexpected SIGHUP caught. Ignoring it.");
+}
+
template <class Algorithm>
int IriBaseAlgorithm<Algorithm>::spin(void)
{
@@ -390,9 +375,6 @@ int main(int argc, char **argv, std::string node_name)
// ROS initialization
ros::init(argc, argv, node_name);
- // allow Ctrl+C management
- signal(SIGHUP, &AbstractAlgorithmNode::hupCalled);
-
// define and launch generic algorithm implementation object
AlgImplTempl algImpl;
algImpl.spin();
--
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