text: /*
   * BSD 3-Clause License
   *
   * Copyright (c) 2021, Noa Sendlhofer
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice, this
   *    list of conditions and the following disclaimer.
   *
   * 2. Redistributions in binary form must reproduce the above copyright notice,
   *    this list of conditions and the following disclaimer in the documentation
   *    and/or other materials provided with the distribution.
   *
   * 3. Neither the name of the copyright holder nor the names of its
   *    contributors may be used to endorse or promote products derived from
   *    this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  
  // Author: Noa Sendlhofer
  
  #include "nssc.h"
  
  nssc::NSSC::NSSC(int argc, char **argv)
  {
      rclcpp::init(argc, argv);
  
      this->node_executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  
      auto node = std::make_shared<nssc::ros::NSSC>();
      this->node_executor->add_node(node);
  
      nssc::NSSC_ERRORS eHandler(node);
  
      this->executor = std::make_shared<nssc::application::Executor>(node, this->node_executor);
      this->executor->init();
  
      this->cli = std::make_unique<nssc::application::CLI>(node, this->executor);
      this->message_handler = std::make_unique<nssc::application::MessageHandler>(node, this->executor);
  }
  
  nssc::NSSC::~NSSC()
  {
      exit();
  }
  
  void nssc::NSSC::spin()
  {
      this->node_executor->spin();
  }
  
  void nssc::NSSC::exit()
  {
      if (this->is_running)
      {
          this->is_running = false;
  
          this->cli->closeCLI();
          this->executor->exit();
          rclcpp::shutdown();
      }
  }