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make service anonymous #23

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Merged
nathanhhughes merged 1 commit into from
Oct 14, 2026
Merged

make service anonymous #23

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12 changes: 8 additions & 4 deletions ianvs/include/ianvs/spin_functions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,18 +33,22 @@
* purposes notwithstanding any copyright notation herein.
* -------------------------------------------------------------------------- */
#pragma once
#include <std_srvs/srv/empty.hpp>

#include "ianvs/node_handle.h"

namespace ianvs {

void spinWhileClockPresent(NodeHandle nh, rclcpp::Executor* executor = nullptr);
void spinWhileClockPresent(NodeHandle nh,
rclcpp::Executor* executor = nullptr,
const std::string& service_name = "~/shutdown");

void spinUntilExitRequested(NodeHandle nh, rclcpp::Executor* executor = nullptr);
void spinUntilExitRequested(NodeHandle nh,
rclcpp::Executor* executor = nullptr,
const std::string& service_name = "~/shutdown");

void spinAndWait(NodeHandle nh,
bool exit_after_clock = false,
rclcpp::Executor* executor = nullptr);
rclcpp::Executor* executor = nullptr,
const std::string& service_name = "~/shutdown");

} // namespace ianvs
33 changes: 20 additions & 13 deletions ianvs/src/spin_functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,12 @@

#include <rclcpp/executors.hpp>
#include <rclcpp/rate.hpp>
#include <std_srvs/srv/empty.hpp>

namespace ianvs {

using BaseInterface = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
using std_srvs::srv::Empty;

namespace {

Expand All @@ -54,27 +56,27 @@ inline void spin_some(const BaseInterface& node, rclcpp::Executor* exec) {
} // namespace

struct ShutdownMonitor {
explicit ShutdownMonitor(NodeHandle nh)
ShutdownMonitor(NodeHandle nh, const std::string& name)
: should_exit(false),
service(nh.create_service<std_srvs::srv::Empty>(
"shutdown", &ShutdownMonitor::callback, this)) {}
service(nh.create_service<Empty>(name, &ShutdownMonitor::callback, this)) {}

void callback(const std_srvs::srv::Empty::Request::SharedPtr&,
std_srvs::srv::Empty::Response::SharedPtr) {
void callback(const Empty::Request::SharedPtr&, Empty::Response::SharedPtr) {
should_exit = true;
}

bool should_exit;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr service;
rclcpp::Service<Empty>::SharedPtr service;
};

bool haveClock(NodeHandle nh) {
auto graph = nh.node().get<rclcpp::node_interfaces::NodeGraphInterface>();
return graph->count_publishers("/clock") > 0;
}

void spinWhileClockPresent(NodeHandle nh, rclcpp::Executor* executor) {
ShutdownMonitor functor(nh);
void spinWhileClockPresent(NodeHandle nh,
rclcpp::Executor* executor,
const std::string& service_name) {
ShutdownMonitor functor(nh, service_name);

rclcpp::WallRate r(50);
auto base = nh.node().get<rclcpp::node_interfaces::NodeBaseInterface>();
Expand All @@ -98,8 +100,10 @@ void spinWhileClockPresent(NodeHandle nh, rclcpp::Executor* executor) {
RCLCPP_INFO(nh.logger(), "Exiting!");
}

void spinUntilExitRequested(NodeHandle nh, rclcpp::Executor* executor) {
ShutdownMonitor functor(nh);
void spinUntilExitRequested(NodeHandle nh,
rclcpp::Executor* executor,
const std::string& service_name) {
ShutdownMonitor functor(nh, service_name);

rclcpp::WallRate r(50);
auto base = nh.node().get<rclcpp::node_interfaces::NodeBaseInterface>();
Expand All @@ -117,11 +121,14 @@ void spinUntilExitRequested(NodeHandle nh, rclcpp::Executor* executor) {
RCLCPP_INFO(nh.logger(), "Exiting!");
}

void spinAndWait(NodeHandle nh, bool exit_after_clock, rclcpp::Executor* executor) {
void spinAndWait(NodeHandle nh,
bool exit_after_clock,
rclcpp::Executor* executor,
const std::string& service_name) {
if (exit_after_clock) {
spinWhileClockPresent(nh, executor);
spinWhileClockPresent(nh, executor, service_name);
} else {
spinUntilExitRequested(nh, executor);
spinUntilExitRequested(nh, executor, service_name);
}
}

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