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C++ ROS Client Library API
node_base.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
17 
18 #include <memory>
19 #include <string>
20 #include <vector>
21 
22 #include "rclcpp/context.hpp"
23 #include "rclcpp/macros.hpp"
26 
27 namespace rclcpp
28 {
29 namespace node_interfaces
30 {
31 
34 {
35 public:
37 
39  NodeBase(
40  const std::string & node_name,
41  const std::string & namespace_,
42  rclcpp::Context::SharedPtr context);
43 
45  virtual
46  ~NodeBase();
47 
49  virtual
50  const char *
51  get_name() const;
52 
54  virtual
55  const char *
56  get_namespace() const;
57 
59  virtual
60  rclcpp::Context::SharedPtr
61  get_context();
62 
64  virtual
65  rcl_node_t *
67 
69  virtual
70  const rcl_node_t *
71  get_rcl_node_handle() const;
72 
74  virtual
77 
79  virtual
82 
84  virtual
85  rclcpp::callback_group::CallbackGroup::SharedPtr
87 
89  virtual
90  rclcpp::callback_group::CallbackGroup::SharedPtr
92 
94  virtual
95  bool
96  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
97 
99  virtual
101  get_callback_groups() const;
102 
104  virtual
105  std::atomic_bool &
107 
109  virtual
112 
114  virtual
117 
118 private:
120 
121  rclcpp::Context::SharedPtr context_;
122 
123  std::shared_ptr<rcl_node_t> node_handle_;
124 
125  rclcpp::callback_group::CallbackGroup::SharedPtr default_callback_group_;
127 
128  std::atomic_bool associated_with_executor_;
129 
131  mutable std::recursive_mutex notify_guard_condition_mutex_;
133  bool notify_guard_condition_is_valid_;
134 };
135 
136 } // namespace node_interfaces
137 } // namespace rclcpp
138 
139 #endif // RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
virtual const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & get_callback_groups() const
Return list of callback groups associated with this node.
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
CallbackGroupType
Definition: callback_group.hpp:43
Definition: allocator_common.hpp:24
virtual const char * get_name() const
Return the name of the node.
rcl_guard_condition_t rcl_get_zero_initialized_guard_condition(void)
Implementation of the NodeBase part of the Node API.
Definition: node_base.hpp:33
virtual std::unique_lock< std::recursive_mutex > acquire_notify_guard_condition_lock() const
Acquire and return a scoped lock that protects the notify guard condition.
NodeBase(const std::string &node_name, const std::string &namespace_, rclcpp::Context::SharedPtr context)
virtual std::atomic_bool & get_associated_with_executor_atomic()
Return the atomic bool which is used to ensure only one executor is used.
virtual const char * get_namespace() const
Return the namespace of the node.
virtual std::shared_ptr< rcl_node_t > get_shared_rcl_node_handle()
Return the rcl_node_t node handle in a std::shared_ptr.
virtual rcl_node_t * get_rcl_node_handle()
Return the rcl_node_t node handle (non-const version).
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
virtual rclcpp::callback_group::CallbackGroup::SharedPtr get_default_callback_group()
Return the default callback group.
virtual bool callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
Return true if the given callback group is associated with this node.
virtual rclcpp::Context::SharedPtr get_context()
Return the context of the node.
virtual rcl_guard_condition_t * get_notify_guard_condition()
Return guard condition that should be notified when the internal node state changes.
virtual rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
Create and return a callback group.