Pure virtual interface class for the NodeBase part of the Node API. More...
#include <node_base_interface.hpp>
Public Member Functions | |
| virtual const char * | get_name () const =0 |
| Return the name of the node. More... | |
| virtual rclcpp::context::Context::SharedPtr | get_context ()=0 |
| Return the context of the node. More... | |
| virtual rcl_node_t * | get_rcl_node_handle ()=0 |
| Return the rcl_node_t node handle (non-const version). More... | |
| virtual const rcl_node_t * | get_rcl_node_handle () const =0 |
| Return the rcl_node_t node handle (const version). More... | |
| 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. More... | |
| virtual std::shared_ptr< const rcl_node_t > | get_shared_rcl_node_handle () const =0 |
| Return the rcl_node_t node handle in a std::shared_ptr. More... | |
| virtual rclcpp::callback_group::CallbackGroup::SharedPtr | create_callback_group (rclcpp::callback_group::CallbackGroupType group_type)=0 |
| Create and return a callback group. More... | |
| virtual rclcpp::callback_group::CallbackGroup::SharedPtr | get_default_callback_group ()=0 |
| Return the default callback group. More... | |
| 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. More... | |
| virtual const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & | get_callback_groups () const =0 |
| Return list of callback groups associated with this node. More... | |
| virtual std::atomic_bool & | get_associated_with_executor_atomic ()=0 |
| Return the atomic bool which is used to ensure only one executor is used. More... | |
| virtual rcl_guard_condition_t * | get_notify_guard_condition ()=0 |
| Return guard condition that should be notified when the internal node state changes. More... | |
| 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. More... | |
Detailed Description
Pure virtual interface class for the NodeBase part of the Node API.
Member Function Documentation
§ get_name()
|
pure virtual |
Return the name of the node.
- Returns
- The name of the node.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_context()
|
pure virtual |
Return the context of the node.
- Returns
- SharedPtr to the node's context.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_rcl_node_handle() [1/2]
|
pure virtual |
Return the rcl_node_t node handle (non-const version).
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_rcl_node_handle() [2/2]
|
pure virtual |
Return the rcl_node_t node handle (const version).
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_shared_rcl_node_handle() [1/2]
|
pure virtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_shared_rcl_node_handle() [2/2]
|
pure virtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implemented in rclcpp::node_interfaces::NodeBase.
§ create_callback_group()
|
pure virtual |
Create and return a callback group.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_default_callback_group()
|
pure virtual |
Return the default callback group.
Implemented in rclcpp::node_interfaces::NodeBase.
§ callback_group_in_node()
|
pure virtual |
Return true if the given callback group is associated with this node.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_callback_groups()
|
pure virtual |
Return list of callback groups associated with this node.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_associated_with_executor_atomic()
|
pure virtual |
Return the atomic bool which is used to ensure only one executor is used.
Implemented in rclcpp::node_interfaces::NodeBase.
§ get_notify_guard_condition()
|
pure virtual |
Return guard condition that should be notified when the internal node state changes.
For example, this should be notified when a publisher is added or removed.
- Returns
- the rcl_guard_condition_t if it is valid, else nullptr
Implemented in rclcpp::node_interfaces::NodeBase.
§ acquire_notify_guard_condition_lock()
|
pure virtual |
Acquire and return a scoped lock that protects the notify guard condition.
This should be used when triggering the notify guard condition.
Implemented in rclcpp::node_interfaces::NodeBase.
The documentation for this class was generated from the following file:
- include/rclcpp/node_interfaces/node_base_interface.hpp
