yasmin_node.hpp

Go to the documentation of this file.

// Copyright (C) 2024 Miguel Ángel González Santamarta
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN_ROS__YASMIN_NODE_HPP_
#define YASMIN_ROS__YASMIN_NODE_HPP_
 
#include <memory>
#include <string>
#include <thread>
 
#include "rclcpp/rclcpp.hpp"
 
#include "yasmin/blackboard.hpp"
#include "yasmin/state.hpp"
#include "yasmin_ros/basic_outcomes.hpp"
 
namespace yasmin_ros {

class YasminNode : public rclcpp::Node {
 
protected:
  explicit YasminNode();
 
public:
  YasminNode(YasminNode &other) = delete;

  ~YasminNode() {}

  void operator=(const YasminNode &) = delete;

  static YasminNode::SharedPtr get_instance() {
    // Ensure ROS 2 is initialized
    if (!rclcpp::ok()) {
      rclcpp::init(0, nullptr);
    }
 
    // Create the singleton instance if it doesn't exist
    static YasminNode::SharedPtr instance =
        YasminNode::SharedPtr(new YasminNode());
    return instance;
  }
 
private:
#if __has_include("rclcpp/version.h")
#include "rclcpp/version.h"
#if RCLCPP_VERSION_GTE(29, 1, 1) // Jazzy, Kilted and Rolling
  rclcpp::experimental::executors::EventsExecutor executor;
#else // Humble, Iron and Jazzy
  rclcpp::executors::MultiThreadedExecutor executor;
#endif
#else // Foxy and Galactic
  rclcpp::executors::MultiThreadedExecutor executor;
#endif
  std::unique_ptr<std::thread> spin_thread;
};
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__YASMIN_NODE_HPP_