149 lines
3.8 KiB
C++
149 lines
3.8 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include "rcl/node.h"
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#include "rclcpp/context.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace node_interfaces
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{
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/// Implementation of the NodeBase part of the Node API.
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class NodeBase : public NodeBaseInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
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RCLCPP_PUBLIC
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NodeBase(
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const std::string & node_name,
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const std::string & namespace_,
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rclcpp::Context::SharedPtr context,
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const rcl_node_options_t & rcl_node_options,
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bool use_intra_process_default,
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bool enable_topic_statistics_default);
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RCLCPP_PUBLIC
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virtual
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~NodeBase();
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RCLCPP_PUBLIC
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const char *
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get_name() const override;
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RCLCPP_PUBLIC
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const char *
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get_namespace() const override;
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RCLCPP_PUBLIC
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const char *
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get_fully_qualified_name() const override;
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RCLCPP_PUBLIC
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rclcpp::Context::SharedPtr
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get_context() override;
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RCLCPP_PUBLIC
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rcl_node_t *
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get_rcl_node_handle() override;
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RCLCPP_PUBLIC
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const rcl_node_t *
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get_rcl_node_handle() const override;
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RCLCPP_PUBLIC
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std::shared_ptr<rcl_node_t>
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get_shared_rcl_node_handle() override;
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RCLCPP_PUBLIC
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std::shared_ptr<const rcl_node_t>
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get_shared_rcl_node_handle() const override;
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RCLCPP_PUBLIC
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rclcpp::CallbackGroup::SharedPtr
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create_callback_group(
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rclcpp::CallbackGroupType group_type,
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bool automatically_add_to_executor_with_node = true) override;
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RCLCPP_PUBLIC
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rclcpp::CallbackGroup::SharedPtr
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get_default_callback_group() override;
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RCLCPP_PUBLIC
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bool
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callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
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RCLCPP_PUBLIC
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const std::vector<rclcpp::CallbackGroup::WeakPtr> &
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get_callback_groups() const override;
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RCLCPP_PUBLIC
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std::atomic_bool &
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get_associated_with_executor_atomic() override;
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RCLCPP_PUBLIC
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rcl_guard_condition_t *
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get_notify_guard_condition() override;
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RCLCPP_PUBLIC
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std::unique_lock<std::recursive_mutex>
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acquire_notify_guard_condition_lock() const override;
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RCLCPP_PUBLIC
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bool
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get_use_intra_process_default() const override;
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bool
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get_enable_topic_statistics_default() const override;
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std::string
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resolve_topic_or_service_name(
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const std::string & name, bool is_service, bool only_expand = false) const override;
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private:
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RCLCPP_DISABLE_COPY(NodeBase)
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rclcpp::Context::SharedPtr context_;
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bool use_intra_process_default_;
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bool enable_topic_statistics_default_;
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std::shared_ptr<rcl_node_t> node_handle_;
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rclcpp::CallbackGroup::SharedPtr default_callback_group_;
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std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
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std::atomic_bool associated_with_executor_;
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/// Guard condition for notifying the Executor of changes to this node.
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mutable std::recursive_mutex notify_guard_condition_mutex_;
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rcl_guard_condition_t notify_guard_condition_ = rcl_get_zero_initialized_guard_condition();
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bool notify_guard_condition_is_valid_;
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};
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
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