15 #ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_ 16 #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_ 31 namespace node_interfaces
116 rclcpp::Event::SharedPtr
131 rclcpp::Event::SharedPtr event,
147 #endif // RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
virtual rclcpp::Event::SharedPtr get_graph_event()=0
Return a graph event, which will be set anytime a graph change occurs.
virtual const rcl_guard_condition_t * get_graph_guard_condition() const =0
Return the rcl guard condition which is triggered when the ROS graph changes.
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
Definition: allocator_common.hpp:24
virtual void notify_graph_change()=0
Notify threads waiting on graph changes.
virtual size_t count_publishers(const std::string &topic_name) const =0
Return the number of publishers that are advertised on a given topic.
virtual void wait_for_graph_change(rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout)=0
Wait for a graph event to occur by waiting on an Event to become set.
virtual std::map< std::string, std::vector< std::string > > get_topic_names_and_types(bool no_demangle=false) const =0
Return a map of existing topic names to list of topic types.
virtual size_t count_subscribers(const std::string &topic_name) const =0
Return the number of subscribers who have created a subscription for a given topic.
virtual size_t count_graph_users()=0
Return the number of on loan graph events, see get_graph_event().
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
virtual std::vector< std::string > get_node_names() const =0
Return a vector of existing node names (string).
virtual void notify_shutdown()=0
Notify any and all blocking node actions that shutdown has occurred.
virtual std::map< std::string, std::vector< std::string > > get_service_names_and_types() const =0
Return a map of existing service names to list of service types.