Ros2Spinner.cpp

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "Ros2Spinner.h"
 
#include <yarp/os/Log.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
namespace {
YARP_LOG_COMPONENT(ROS2SPINNER, "yarp.ros2.Ros2Spinner")
}
 
Ros2Spinner::Ros2Spinner(std::shared_ptr<rclcpp::Node> input_node) :
m_node(input_node)
{}
 
void Ros2Spinner::run()
{
    if(!m_spun)
    {
        m_spun = true;
        rclcpp::spin(m_node);
    }
}
 
Ros2Spinner::~Ros2Spinner()
{
    if(m_spun)
    {
        rclcpp::shutdown();
        m_spun = false;
    }
}