bag_recorder_backend

1#include <rclcpp/rclcpp.hpp>
2#include <memory>
3#include <signal.h>
4
5#include "bag_recorder_backend/bag_recorder_node.hpp"
6#include "bag_recorder_backend/crow_server.hpp"
7
8// Global variables for signal handling
9std::shared_ptr<bag_recorder_backend::BagRecorderNode> g_recorder_node;
10std::shared_ptr<bag_recorder_backend::CrowServer> g_crow_server;
11
12void signal_handler(int signum)
13{
14  RCLCPP_INFO(rclcpp::get_logger("main"), "Received signal %d, shutting down gracefully...", signum);
15  
16  if (g_crow_server) {
17    g_crow_server->stop();
18  }
19  
20  if (g_recorder_node) {
21    g_recorder_node->stop_recording();
22  }
23  
24  rclcpp::shutdown();
25}
26
27int main(int argc, char ** argv)
28{
29  // Initialize ROS2
30  rclcpp::init(argc, argv);
31  
32  // Set up signal handlers for graceful shutdown
33  signal(SIGINT, signal_handler);
34  signal(SIGTERM, signal_handler);
35  
36  try {
37    // Create recorder node
38    g_recorder_node = std::make_shared<bag_recorder_backend::BagRecorderNode>();
39    
40    // Get server configuration from parameters
41    int server_port = g_recorder_node->declare_parameter("server_port", 8080);
42    std::string cert_file = g_recorder_node->declare_parameter("ssl_cert_file", "");
43    std::string key_file = g_recorder_node->declare_parameter("ssl_key_file", "");
44    bool enable_cors = g_recorder_node->declare_parameter("enable_cors", true);
45    
46    // Create and configure Crow server
47    g_crow_server = std::make_shared<bag_recorder_backend::CrowServer>(g_recorder_node, server_port);
48    
49    if (!cert_file.empty() && !key_file.empty()) {
50      g_crow_server->set_ssl_config(cert_file, key_file);
51      RCLCPP_INFO(g_recorder_node->get_logger(), "SSL enabled with cert: %s", cert_file.c_str());
52    }
53    
54    g_crow_server->enable_cors(enable_cors);
55    
56    // Start the web server in a separate thread
57    std::thread server_thread([&]() {
58      try {
59        g_crow_server->start();
60      } catch (const std::exception & e) {
61        RCLCPP_ERROR(g_recorder_node->get_logger(), "Server error: %s", e.what());
62      }
63    });
64    
65    RCLCPP_INFO(g_recorder_node->get_logger(), 
66                "Bag Recorder Backend started on port %d", server_port);
67    
68    // Spin the ROS2 node
69    rclcpp::spin(g_recorder_node);
70    
71    // Clean shutdown
72    if (g_crow_server) {
73      g_crow_server->stop();
74    }
75    
76    if (server_thread.joinable()) {
77      server_thread.join();
78    }
79    
80  } catch (const std::exception & e) {
81    RCLCPP_ERROR(rclcpp::get_logger("main"), "Fatal error: %s", e.what());
82    return 1;
83  }
84  
85  RCLCPP_INFO(rclcpp::get_logger("main"), "Bag Recorder Backend shutdown complete");
86  return 0;
87}