bag_recorder_backend

1#include <signal.h>
2
3#include <memory>
4#include <rclcpp/rclcpp.hpp>
5
6#include "bag_recorder_backend/bag_recorder_node.hpp"
7#include "bag_recorder_backend/crow_server.hpp"
8
9// Global variables for signal handling
10std::shared_ptr<bag_recorder_backend::BagRecorderNode> g_recorder_node;
11std::shared_ptr<bag_recorder_backend::CrowServer> g_crow_server;
12
13void signal_handler(int signum) {
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    // Initialize ROS2
29    rclcpp::init(argc, argv);
30
31    // Set up signal handlers for graceful shutdown
32    signal(SIGINT, signal_handler);
33    signal(SIGTERM, signal_handler);
34
35    try {
36        // Create recorder node
37        g_recorder_node = std::make_shared<bag_recorder_backend::BagRecorderNode>();
38
39        // Get server configuration from parameters
40        int server_port = g_recorder_node->declare_parameter("server_port", 8080);
41        bool enable_cors = g_recorder_node->declare_parameter("enable_cors", true);
42
43        // Create and configure Crow server
44        g_crow_server = std::make_shared<bag_recorder_backend::CrowServer>(g_recorder_node, server_port);
45        g_crow_server->enable_cors(enable_cors);
46
47        // Start the web server in a separate thread
48        std::thread server_thread([&]() {
49            try {
50                g_crow_server->start();
51            } catch (const std::exception& e) {
52                RCLCPP_ERROR(g_recorder_node->get_logger(), "Server error: %s", e.what());
53            }
54        });
55
56        RCLCPP_INFO(g_recorder_node->get_logger(), "Bag Recorder Backend started on port %d", server_port);
57
58        // Spin the ROS2 node
59        rclcpp::spin(g_recorder_node);
60
61        // Clean shutdown
62        if (g_crow_server) {
63            g_crow_server->stop();
64        }
65
66        if (server_thread.joinable()) {
67            server_thread.join();
68        }
69
70    } catch (const std::exception& e) {
71        RCLCPP_ERROR(rclcpp::get_logger("main"), "Fatal error: %s", e.what());
72        return 1;
73    }
74
75    RCLCPP_INFO(rclcpp::get_logger("main"), "Bag Recorder Backend shutdown complete");
76    return 0;
77}
78