text: /*
   * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
   * Copyright (c) 2017, Bosch Software Innovations GmbH.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * 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.
   *     * Neither the name of the Willow Garage, Inc. 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 OWNER 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.
   */
  
  #include "rviz_common/ros_integration/ros_client_abstraction.hpp"
  
  #include <memory>
  #include <mutex>
  #include <string>
  
  #include "rclcpp/rclcpp.hpp"
  
  #include "rviz_common/ros_integration/ros_node_abstraction.hpp"
  #include "./ros_node_storage.hpp"
  
  namespace rviz_common
  {
  namespace ros_integration
  {
  
  RosClientAbstraction::RosClientAbstraction()
  : ros_node_storage_(std::make_shared<RosNodeStorage>())
  {}
  
  std::string
  RosClientAbstraction::init(int argc, char ** argv, const std::string & name, bool anonymous_name)
  {
    std::string final_name = name;
    if (anonymous_name) {
      // TODO(wjwwood): add anonymous name feature to rclcpp or somehow make name
      //                anonymouse here.
      throw std::runtime_error("'anonymous_name' feature not implemented");
      // final_name = <the full anonymous node name>;
    }
    // TODO(wjwwood): this will throw on repeated calls, maybe avoid that?
    rclcpp::init(argc, argv);
    if (ros_node_storage_->has_rclcpp_node_by_name(final_name)) {
      // TODO(wjwwood): make a better exception type rather than using std::runtime_error.
      throw std::runtime_error("Node with name " + final_name + " already exists.");
    }
    ros_node_abstraction_ = std::make_unique<RosNodeAbstraction>(final_name, ros_node_storage_);
    return final_name;
  }
  
  bool
  RosClientAbstraction::ok()
  {
    return rclcpp::ok() && ros_node_abstraction_ != nullptr;
  }
  
  void
  RosClientAbstraction::shutdown()
  {
    ros_node_storage_->clear_rclcpp_nodes();
    rclcpp::shutdown();
  }
  
  }  // namespace ros_integration
  }  // namespace rviz_common
  