-
Notifications
You must be signed in to change notification settings - Fork 522
Expand file tree
/
Copy pathnode_base.hpp
More file actions
172 lines (138 loc) · 4.71 KB
/
node_base.hpp
File metadata and controls
172 lines (138 loc) · 4.71 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
// 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__NODE_INTERFACES__NODE_BASE_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
#include <atomic>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
#include "rcl/node.h"
#include "rclcpp/callback_group.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
namespace node_interfaces
{
/// Implementation of the NodeBase part of the Node API.
class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<NodeBase>
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
/// Constructor.
/**
* If nullptr (default) is given for the default_callback_group, one will
* be created by the constructor using the create_callback_group() method,
* but virtual dispatch will not occur so overrides of that method will not
* be used.
*/
RCLCPP_PUBLIC
NodeBase(
const std::string & node_name,
const std::string & namespace_,
rclcpp::Context::SharedPtr context,
const rcl_node_options_t & rcl_node_options,
bool use_intra_process_default,
bool enable_topic_statistics_default,
rclcpp::CallbackGroup::SharedPtr default_callback_group = nullptr);
RCLCPP_PUBLIC
virtual
~NodeBase();
RCLCPP_PUBLIC
const char *
get_name() const override;
RCLCPP_PUBLIC
const char *
get_namespace() const override;
RCLCPP_PUBLIC
const char *
get_fully_qualified_name() const override;
RCLCPP_PUBLIC
rclcpp::Context::SharedPtr
get_context() override;
RCLCPP_PUBLIC
rcl_node_t *
get_rcl_node_handle() override;
RCLCPP_PUBLIC
const rcl_node_t *
get_rcl_node_handle() const override;
RCLCPP_PUBLIC
std::shared_ptr<rcl_node_t>
get_shared_rcl_node_handle() override;
RCLCPP_PUBLIC
std::shared_ptr<const rcl_node_t>
get_shared_rcl_node_handle() const override;
RCLCPP_PUBLIC
rclcpp::CallbackGroup::SharedPtr
create_callback_group(
rclcpp::CallbackGroupType group_type,
bool automatically_add_to_executor_with_node = true) override;
RCLCPP_PUBLIC
rclcpp::CallbackGroup::SharedPtr
get_default_callback_group() override;
RCLCPP_PUBLIC
bool
callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
/// Iterate over the stored callback groups, calling the given function on each valid one.
/**
* This method is called in a thread-safe way, and also makes sure to only call the given
* function on those items that are still valid.
*
* \param[in] func The callback function to call on each valid callback group.
*/
RCLCPP_PUBLIC
void
for_each_callback_group(const CallbackGroupFunction & func) override;
RCLCPP_PUBLIC
std::atomic_bool &
get_associated_with_executor_atomic() override;
[[deprecated("Use get_shared_notify_guard_condition or trigger_notify_guard_condition instead")]]
RCLCPP_PUBLIC
rclcpp::GuardCondition &
get_notify_guard_condition() override;
RCLCPP_PUBLIC
rclcpp::GuardCondition::SharedPtr
get_shared_notify_guard_condition() override;
RCLCPP_PUBLIC
void
trigger_notify_guard_condition() override;
RCLCPP_PUBLIC
bool
get_use_intra_process_default() const override;
bool
get_enable_topic_statistics_default() const override;
std::string
resolve_topic_or_service_name(
const std::string & name, bool is_service, bool only_expand = false) const override;
private:
RCLCPP_DISABLE_COPY(NodeBase)
rclcpp::Context::SharedPtr context_;
bool use_intra_process_default_;
bool enable_topic_statistics_default_;
std::shared_ptr<rcl_node_t> node_handle_;
rclcpp::CallbackGroup::SharedPtr default_callback_group_;
std::mutex callback_groups_mutex_;
std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
std::atomic_bool associated_with_executor_;
/// Guard condition for notifying the Executor of changes to this node.
mutable std::recursive_mutex notify_guard_condition_mutex_;
std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_;
bool notify_guard_condition_is_valid_;
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_