15 #ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_ 16 #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_ 36 namespace graph_listener
41 namespace node_interfaces
99 rclcpp::Event::SharedPtr
106 rclcpp::Event::SharedPtr event,
123 std::atomic_bool should_add_to_graph_listener_;
133 std::atomic_size_t graph_users_count_;
139 #endif // RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_ virtual void notify_graph_change()
Notify threads waiting on graph changes.
virtual std::map< std::string, std::vector< std::string > > get_topic_names_and_types(bool no_demangle=false) const
Return a map of existing topic names to list of topic types.
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
Implementation the NodeGraph part of the Node API.
Definition: node_graph.hpp:45
virtual void notify_shutdown()
Notify any and all blocking node actions that shutdown has occurred.
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
virtual size_t count_graph_users()
Return the number of on loan graph events, see get_graph_event().
Definition: allocator_common.hpp:24
virtual std::vector< std::string > get_node_names() const
Return a vector of existing node names (string).
virtual size_t count_publishers(const std::string &topic_name) const
Return the number of publishers that are advertised on a given topic.
virtual rclcpp::Event::SharedPtr get_graph_event()
Return a graph event, which will be set anytime a graph change occurs.
virtual const rcl_guard_condition_t * get_graph_guard_condition() const
Return the rcl guard condition which is triggered when the ROS graph changes.
Pure virtual interface class for the NodeGraph part of the Node API.
Definition: node_graph_interface.hpp:35
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
NodeGraph(rclcpp::node_interfaces::NodeBaseInterface *node_base)
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
virtual std::map< std::string, std::vector< std::string > > get_service_names_and_types() const
Return a map of existing service names to list of service types.
virtual void wait_for_graph_change(rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout)
Wait for a graph event to occur by waiting on an Event to become set.
virtual size_t count_subscribers(const std::string &topic_name) const
Return the number of subscribers who have created a subscription for a given topic.