node_base.hpp

// 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
{
 
class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<NodeBase>
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
 
  
  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,
    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;
 
 
  RCLCPP_PUBLIC
  void
  for_each_callback_group(const CallbackGroupFunction & func) override;
 
  RCLCPP_PUBLIC
  std::atomic_bool &
  get_associated_with_executor_atomic() 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;
 
  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_;
 
  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_;
 
  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_