lifecycle_node.hpp

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// Copyright 2016 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_LIFECYCLE__LIFECYCLE_NODE_HPP_
#define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
 
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "rcutils/macros.h"
 
#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_options.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/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/time.hpp"
#include "rclcpp/timer.hpp"
 
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/transition.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
 
namespace rclcpp_lifecycle
{
 
// include these here to work around an esoteric Windows error where the namespace
// cannot be used in the function declaration below without getting an error like:
//   'rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>':
//     no appropriate default constructor available
template<typename AllocatorT>
using PublisherOptionsWithAllocator = rclcpp::PublisherOptionsWithAllocator<AllocatorT>;
template<typename AllocatorT>
using SubscriptionOptionsWithAllocator = rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>;
 
template<typename AllocatorT>
PublisherOptionsWithAllocator<AllocatorT>
create_default_publisher_options()
{
  return rclcpp::PublisherOptionsWithAllocator<AllocatorT>();
}
 
template<typename AllocatorT>
SubscriptionOptionsWithAllocator<AllocatorT>
create_default_subscription_options()
{
  return rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>();
}
 
 
class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
  public std::enable_shared_from_this<LifecycleNode>
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(LifecycleNode)
 
  
 
  RCLCPP_LIFECYCLE_PUBLIC
  explicit LifecycleNode(
    const std::string & node_name,
    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  LifecycleNode(
    const std::string & node_name,
    const std::string & namespace_,
    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  RCLCPP_LIFECYCLE_PUBLIC
  virtual ~LifecycleNode();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  const char *
  get_name() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  const char *
  get_namespace() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Logger
  get_logger() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::CallbackGroup::SharedPtr
  create_callback_group(rclcpp::CallbackGroupType group_type);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
  get_callback_groups() const;
 
 
  template<typename MessageT, typename AllocatorT = std::allocator<void>>
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
  create_publisher(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    const PublisherOptionsWithAllocator<AllocatorT> & options = (
      create_default_publisher_options<AllocatorT>()
    )
  );
 
 
  template<
    typename MessageT,
    typename CallbackT,
    typename AllocatorT = std::allocator<void>,
    typename CallbackMessageT =
    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
      CallbackMessageT,
      AllocatorT
    >>
  std::shared_ptr<SubscriptionT>
  create_subscription(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    CallbackT && callback,
    const SubscriptionOptionsWithAllocator<AllocatorT> & options =
    create_default_subscription_options<AllocatorT>(),
    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
      MessageMemoryStrategyT::create_default()
    )
  );
 
 
  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::CallbackGroup::SharedPtr group = nullptr);
 
 
  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::CallbackGroup::SharedPtr group = nullptr);
 
 
  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::CallbackGroup::SharedPtr group = nullptr);
 
 
  RCLCPP_LIFECYCLE_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_LIFECYCLE_PUBLIC
  void
  undeclare_parameter(const std::string & name);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  has_parameter(const std::string & name) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameter(const rclcpp::Parameter & parameter);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<rcl_interfaces::msg::SetParametersResult>
  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Parameter
  get_parameter(const std::string & name) const;
 
 
  RCLCPP_LIFECYCLE_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 & value,
    const ParameterT & alternative_value) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<rclcpp::Parameter>
  get_parameters(const std::vector<std::string> & names) const;
 
 
  template<typename MapValueT>
  bool
  get_parameters(
    const std::string & prefix,
    std::map<std::string, MapValueT> & values) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rcl_interfaces::msg::ParameterDescriptor
  describe_parameter(const std::string & name) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<rcl_interfaces::msg::ParameterDescriptor>
  describe_parameters(const std::vector<std::string> & names) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<uint8_t>
  get_parameter_types(const std::vector<std::string> & names) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rcl_interfaces::msg::ListParametersResult
  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
  using OnSetParametersCallbackHandle =
    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
  using OnParametersSetCallbackType =
    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  RCUTILS_WARN_UNUSED
  rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
  add_on_set_parameters_callback(
    rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  void
  remove_on_set_parameters_callback(
    const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
 
 
  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType
  set_on_parameters_set_callback(
    rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<std::string>
  get_node_names() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_topic_names_and_types(bool no_demangle = false) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  size_t
  count_publishers(const std::string & topic_name) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  size_t
  count_subscribers(const std::string & topic_name) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<rclcpp::TopicEndpointInfo>
  get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<rclcpp::TopicEndpointInfo>
  get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
  /* The graph Event object is a loan which must be returned.
   * The Event object is scoped and therefore to return the load just let it go
   * out of scope.
   */
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Event::SharedPtr
  get_graph_event();
 
  /* The given Event must be acquire through the get_graph_event() method.
   *
   * \throws InvalidEventError if the given event is nullptr
   * \throws EventNotRegisteredError if the given event was not acquired with
   *   get_graph_event().
   */
  RCLCPP_LIFECYCLE_PUBLIC
  void
  wait_for_graph_change(
    rclcpp::Event::SharedPtr event,
    std::chrono::nanoseconds timeout);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Clock::SharedPtr
  get_clock();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Clock::ConstSharedPtr
  get_clock() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::Time
  now() const;
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
  get_node_base_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr
  get_node_clock_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
  get_node_graph_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
  get_node_logging_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
  get_node_timers_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
  get_node_topics_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
  get_node_services_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
  get_node_parameters_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
  get_node_time_source_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
  get_node_waitables_interface();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  const rclcpp::NodeOptions &
  get_node_options() const;
 
  //
  // LIFECYCLE COMPONENTS
  //
 
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  get_current_state();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<State>
  get_available_states();
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  std::vector<Transition>
  get_available_transitions();
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  trigger_transition(const Transition & transition);
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  trigger_transition(
    const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  trigger_transition(uint8_t transition_id);
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  trigger_transition(
    uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \param[out] cb_return_code transition callback return code.
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  configure();
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  cleanup();
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  activate();
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  deactivate();
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
  /*
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  shutdown();
 
  /*
   * \param[out] cb_return_code transition callback return code
   * \return the new state after this transition
   */
  RCLCPP_LIFECYCLE_PUBLIC
  const State &
  shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
 
protected:
  RCLCPP_LIFECYCLE_PUBLIC
  void
  add_publisher_handle(std::shared_ptr<rclcpp_lifecycle::LifecyclePublisherInterface> pub);
 
  RCLCPP_LIFECYCLE_PUBLIC
  void
  add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
 
private:
  RCLCPP_DISABLE_COPY(LifecycleNode)
 
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  group_in_node(rclcpp::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_;
 
  class LifecycleNodeInterfaceImpl;
  std::unique_ptr<LifecycleNodeInterfaceImpl> impl_;
};
 
}  // namespace rclcpp_lifecycle
 
#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
// Template implementations
#include "rclcpp_lifecycle/lifecycle_node_impl.hpp"
#endif
 
#endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_