15 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_ 16 #define RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_ 32 namespace node_interfaces
59 rclcpp::context::Context::SharedPtr
81 std::shared_ptr<rcl_node_t>
91 std::shared_ptr<const rcl_node_t>
97 rclcpp::callback_group::CallbackGroup::SharedPtr
103 rclcpp::callback_group::CallbackGroup::SharedPtr
115 const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
139 std::unique_lock<std::recursive_mutex>
146 #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:43
virtual rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)=0
Create and return a callback group.
Definition: allocator_common.hpp:24
virtual rcl_guard_condition_t * get_notify_guard_condition()=0
Return guard condition that should be notified when the internal node state changes.
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 rclcpp::context::Context::SharedPtr get_context()=0
Return the context 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.