/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include <fcntl.h>
#include <semaphore.h>
#include <sys/shm.h>

#include <cstring>
#include <iostream>

#include "orbbec_camera/constants.h"
#include "rclcpp/rclcpp.hpp"

using namespace orbbec_camera;

int main() {
  sem_t *sem = sem_open(DEFAULT_SEM_NAME.c_str(), O_CREAT, 0644, 0);
  if (sem == SEM_FAILED) {
    RCLCPP_ERROR_STREAM(rclcpp::get_logger("cleanup_shm"), "sem_open failed: " << strerror(errno));
    return 1;
  }
  RCLCPP_INFO_STREAM(rclcpp::get_logger("cleanup_shm"), "sem_open succeeded");
  sem_close(sem);
  sem_unlink(DEFAULT_SEM_NAME.c_str());
  RCLCPP_INFO_STREAM(rclcpp::get_logger("cleanup_shm"), "sem_unlink succeeded");
  int shm_id = shmget(DEFAULT_SEM_KEY, 1, 0666 | IPC_CREAT);
  if (shm_id != -1) {
    shmctl(shm_id, IPC_RMID, nullptr);
    RCLCPP_INFO_STREAM(rclcpp::get_logger("cleanup_shm"), "shmctl `IPC_RMID` succeeded");
  }
  return 0;
}