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C++ ROS Client Library API
node_base_interface.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_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
17 
18 #include <memory>
19 #include <mutex>
20 #include <string>
21 #include <vector>
22 
23 #include "rcl/node.h"
24 
26 #include "rclcpp/context.hpp"
27 #include "rclcpp/macros.hpp"
29 
30 namespace rclcpp
31 {
32 namespace node_interfaces
33 {
34 
37 {
38 public:
40 
42  virtual
43  ~NodeBaseInterface() = default;
44 
46 
48  virtual
49  const char *
50  get_name() const = 0;
51 
53 
55  virtual
56  const char *
57  get_namespace() const = 0;
58 
60 
62  virtual
63  const char *
64  get_fully_qualified_name() const = 0;
65 
67 
69  virtual
70  rclcpp::Context::SharedPtr
71  get_context() = 0;
72 
75  virtual
76  rcl_node_t *
77  get_rcl_node_handle() = 0;
78 
81  virtual
82  const rcl_node_t *
83  get_rcl_node_handle() const = 0;
84 
86 
91  virtual
94 
96 
101  virtual
103  get_shared_rcl_node_handle() const = 0;
104 
107  virtual
108  bool
109  assert_liveliness() const = 0;
110 
113  virtual
114  rclcpp::callback_group::CallbackGroup::SharedPtr
116 
119  virtual
120  rclcpp::callback_group::CallbackGroup::SharedPtr
122 
125  virtual
126  bool
127  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
128 
131  virtual
133  get_callback_groups() const = 0;
134 
137  virtual
138  std::atomic_bool &
140 
142 
148  virtual
151 
153 
155  virtual
158 
161  virtual
162  bool
163  get_use_intra_process_default() const = 0;
164 };
165 
166 } // namespace node_interfaces
167 } // namespace rclcpp
168 
169 #endif // RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
virtual std::atomic_bool & get_associated_with_executor_atomic()=0
Return the atomic bool which is used to ensure only one executor is used.
virtual const char * get_name() const =0
Return the name of the node.
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
CallbackGroupType
Definition: callback_group.hpp:46
virtual rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)=0
Create and return a callback group.
virtual rclcpp::Context::SharedPtr get_context()=0
Return the context of the node.
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24
virtual bool assert_liveliness() const =0
Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
virtual rcl_guard_condition_t * get_notify_guard_condition()=0
Return guard condition that should be notified when the internal node state changes.
virtual bool get_use_intra_process_default() const =0
Return the default preference for using intra process communication.
virtual std::shared_ptr< rcl_node_t > get_shared_rcl_node_handle()=0
Return the rcl_node_t node handle in a std::shared_ptr.
virtual const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & get_callback_groups() const =0
Return list of callback groups associated with this node.
virtual std::unique_lock< std::recursive_mutex > acquire_notify_guard_condition_lock() const =0
Acquire and return a scoped lock that protects the notify guard condition.
virtual const char * get_namespace() const =0
Return the namespace of the node.
virtual const char * get_fully_qualified_name() const =0
Return the fully qualified name of the node.
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual rclcpp::callback_group::CallbackGroup::SharedPtr get_default_callback_group()=0
Return the default callback group.
virtual rcl_node_t * get_rcl_node_handle()=0
Return the rcl_node_t node handle (non-const version).
virtual bool callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)=0
Return true if the given callback group is associated with this node.