node.hpp

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// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCLCPP__NODE_HPP_
#define RCLCPP__NODE_HPP_

#include <atomic>
#include <condition_variable>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <tuple>
#include <utility>
#include <vector>

#include "rcl/error_handling.h"
#include "rcl/node.h"

#include "rcl_interfaces/msg/list_parameters_result.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"

#include "rclcpp/callback_group.hpp"
#include "rclcpp/client.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/event.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/message_memory_strategy.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{

class Node : public std::enable_shared_from_this<Node>
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(Node)

  

  RCLCPP_PUBLIC
  explicit Node(
    const std::string & node_name,
    const NodeOptions & options = NodeOptions());


  RCLCPP_PUBLIC
  explicit Node(
    const std::string & node_name,
    const std::string & namespace_,
    const NodeOptions & options = NodeOptions());

  RCLCPP_PUBLIC
  virtual ~Node();


  RCLCPP_PUBLIC
  const char *
  get_name() const;


  RCLCPP_PUBLIC
  const char *
  get_namespace() const;


  RCLCPP_PUBLIC
  const char *
  get_fully_qualified_name() const;


  RCLCPP_PUBLIC
  rclcpp::Logger
  get_logger() const;

  RCLCPP_PUBLIC
  rclcpp::callback_group::CallbackGroup::SharedPtr
  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);

  RCLCPP_PUBLIC
  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
  get_callback_groups() const;


  template<
    typename MessageT,
    typename AllocatorT = std::allocator<void>,
    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
  std::shared_ptr<PublisherT>
  create_publisher(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    const PublisherOptionsWithAllocator<AllocatorT> & options =
    PublisherOptionsWithAllocator<AllocatorT>()
  );


  template<
    typename MessageT,
    typename AllocatorT = std::allocator<void>,
    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
  std::shared_ptr<PublisherT>
  create_publisher(
    const std::string & topic_name,
    size_t qos_history_depth,
    std::shared_ptr<AllocatorT> allocator);


  template<
    typename MessageT,
    typename AllocatorT = std::allocator<void>,
    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
  std::shared_ptr<PublisherT>
  create_publisher(
    const std::string & topic_name,
    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
    std::shared_ptr<AllocatorT> allocator = nullptr);


  /* TODO(jacquelinekay):
     Windows build breaks when static member function passed as default
     argument to msg_mem_strat, nullptr is a workaround.
   */
  template<
    typename MessageT,
    typename CallbackT,
    typename AllocatorT = std::allocator<void>,
    typename SubscriptionT = rclcpp::Subscription<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>>
  std::shared_ptr<SubscriptionT>
  create_subscription(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    CallbackT && callback,
    const SubscriptionOptionsWithAllocator<AllocatorT> & options =
    SubscriptionOptionsWithAllocator<AllocatorT>(),
    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
    >::SharedPtr
    msg_mem_strat = nullptr);


  /* TODO(jacquelinekay):
     Windows build breaks when static member function passed as default
     argument to msg_mem_strat, nullptr is a workaround.
   */
  template<
    typename MessageT,
    typename CallbackT,
    typename Alloc = std::allocator<void>,
    typename SubscriptionT = rclcpp::Subscription<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
  [[deprecated(
    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
  )]]
  std::shared_ptr<SubscriptionT>
  create_subscription(
    const std::string & topic_name,
    CallbackT && callback,
    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
    bool ignore_local_publications = false,
    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
    msg_mem_strat = nullptr,
    std::shared_ptr<Alloc> allocator = nullptr);


  /* TODO(jacquelinekay):
     Windows build breaks when static member function passed as default
     argument to msg_mem_strat, nullptr is a workaround.
   */
  template<
    typename MessageT,
    typename CallbackT,
    typename Alloc = std::allocator<void>,
    typename SubscriptionT = rclcpp::Subscription<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
  [[deprecated(
    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
  )]]
  std::shared_ptr<SubscriptionT>
  create_subscription(
    const std::string & topic_name,
    CallbackT && callback,
    size_t qos_history_depth,
    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
    bool ignore_local_publications = false,
    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
    msg_mem_strat = nullptr,
    std::shared_ptr<Alloc> allocator = nullptr);


  template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
  typename rclcpp::WallTimer<CallbackT>::SharedPtr
  create_wall_timer(
    std::chrono::duration<DurationRepT, DurationT> period,
    CallbackT callback,
    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

  /* Create and return a Client. */
  template<typename ServiceT>
  typename rclcpp::Client<ServiceT>::SharedPtr
  create_client(
    const std::string & service_name,
    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

  /* Create and return a Service. */
  template<typename ServiceT, typename CallbackT>
  typename rclcpp::Service<ServiceT>::SharedPtr
  create_service(
    const std::string & service_name,
    CallbackT && callback,
    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);


  RCLCPP_PUBLIC
  const rclcpp::ParameterValue &
  declare_parameter(
    const std::string & name,
    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor());


  template<typename ParameterT>
  auto
  declare_parameter(
    const std::string & name,
    const ParameterT & default_value,
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor());


  template<typename ParameterT>
  std::vector<ParameterT>
  declare_parameters(
    const std::string & namespace_,
    const std::map<std::string, ParameterT> & parameters);


  template<typename ParameterT>
  std::vector<ParameterT>
  declare_parameters(
    const std::string & namespace_,
    const std::map<
      std::string,
      std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
    > & parameters);


  RCLCPP_PUBLIC
  void
  undeclare_parameter(const std::string & name);


  RCLCPP_PUBLIC
  bool
  has_parameter(const std::string & name) const;


  RCLCPP_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameter(const rclcpp::Parameter & parameter);


  RCLCPP_PUBLIC
  std::vector<rcl_interfaces::msg::SetParametersResult>
  set_parameters(const std::vector<rclcpp::Parameter> & parameters);


  RCLCPP_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);


  template<typename ParameterT>
  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
  [[deprecated("use declare_parameter() instead")]]
  void
  set_parameter_if_not_set(const std::string & name, const ParameterT & value);


  template<typename ParameterT>
  [[deprecated("use declare_parameters() instead")]]
  void
  set_parameters_if_not_set(
    const std::string & name,
    const std::map<std::string, ParameterT> & values);


  RCLCPP_PUBLIC
  rclcpp::Parameter
  get_parameter(const std::string & name) const;


  RCLCPP_PUBLIC
  bool
  get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;


  template<typename ParameterT>
  bool
  get_parameter(const std::string & name, ParameterT & parameter) const;


  template<typename ParameterT>
  bool
  get_parameter_or(
    const std::string & name,
    ParameterT & parameter,
    const ParameterT & alternative_value) const;


  RCLCPP_PUBLIC
  std::vector<rclcpp::Parameter>
  get_parameters(const std::vector<std::string> & names) const;


  template<typename ParameterT>
  bool
  get_parameters(
    const std::string & prefix,
    std::map<std::string, ParameterT> & values) const;


  template<typename ParameterT>
  [[deprecated("use declare_parameter() and it's return value instead")]]
  void
  get_parameter_or_set(
    const std::string & name,
    ParameterT & value,
    const ParameterT & alternative_value);


  RCLCPP_PUBLIC
  rcl_interfaces::msg::ParameterDescriptor
  describe_parameter(const std::string & name) const;


  RCLCPP_PUBLIC
  std::vector<rcl_interfaces::msg::ParameterDescriptor>
  describe_parameters(const std::vector<std::string> & names) const;


  RCLCPP_PUBLIC
  std::vector<uint8_t>
  get_parameter_types(const std::vector<std::string> & names) const;


  RCLCPP_PUBLIC
  rcl_interfaces::msg::ListParametersResult
  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;

  using OnParametersSetCallbackType =
    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;


  RCLCPP_PUBLIC
  rclcpp::Node::OnParametersSetCallbackType
  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);


  template<typename CallbackT>
  [[deprecated("use set_on_parameters_set_callback() instead")]]
  void
  register_param_change_callback(CallbackT && callback);


  RCLCPP_PUBLIC
  std::vector<std::string>
  get_node_names() const;

  RCLCPP_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_topic_names_and_types() const;

  RCLCPP_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types() const;

  RCLCPP_PUBLIC
  size_t
  count_publishers(const std::string & topic_name) const;

  RCLCPP_PUBLIC
  size_t
  count_subscribers(const std::string & topic_name) const;

  /* The graph Event object is a loan which must be returned.
   * The Event object is scoped and therefore to return the loan just let it go
   * out of scope.
   */
  RCLCPP_PUBLIC
  rclcpp::Event::SharedPtr
  get_graph_event();


  RCLCPP_PUBLIC
  void
  wait_for_graph_change(
    rclcpp::Event::SharedPtr event,
    std::chrono::nanoseconds timeout);

  RCLCPP_PUBLIC
  rclcpp::Clock::SharedPtr
  get_clock();

  RCLCPP_PUBLIC
  Time
  now();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
  get_node_base_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr
  get_node_clock_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
  get_node_graph_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
  get_node_logging_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
  get_node_timers_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
  get_node_topics_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
  get_node_services_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
  get_node_waitables_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
  get_node_parameters_interface();

  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
  get_node_time_source_interface();


  RCLCPP_PUBLIC
  const std::string &
  get_sub_namespace() const;


  RCLCPP_PUBLIC
  const std::string &
  get_effective_namespace() const;


  RCLCPP_PUBLIC
  rclcpp::Node::SharedPtr
  create_sub_node(const std::string & sub_namespace);

  RCLCPP_PUBLIC
  const rclcpp::NodeOptions &
  get_node_options() const;


  RCLCPP_PUBLIC
  RCUTILS_WARN_UNUSED
  bool
  assert_liveliness() const;

protected:

  RCLCPP_PUBLIC
  Node(
    const Node & other,
    const std::string & sub_namespace);

private:
  RCLCPP_DISABLE_COPY(Node)

  RCLCPP_PUBLIC
  bool
  group_in_node(callback_group::CallbackGroup::SharedPtr group);

  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;

  const rclcpp::NodeOptions node_options_;
  const std::string sub_namespace_;
  const std::string effective_namespace_;
};

}  // namespace rclcpp

#ifndef RCLCPP__NODE_IMPL_HPP_
// Template implementations
#include "node_impl.hpp"
#endif

#endif  // RCLCPP__NODE_HPP_