rclcpp::graph_listener::GraphListener Class Reference

Notifies many nodes of graph changes by listening in a thread. More...

#include <rclcpp/graph_listener.hpp>

Inheritance diagram for rclcpp::graph_listener::GraphListener:

Collaboration diagram for rclcpp::graph_listener::GraphListener:

Public Member Functions
RCLCPP_PUBLIC	GraphListener (const rclcpp::Context::SharedPtr &parent_context)
virtual RCLCPP_PUBLIC void	start_if_not_started ()
	Start the graph listener's listen thread if it hasn't been started. More...
virtual RCLCPP_PUBLIC void	add_node (rclcpp::node_interfaces::NodeGraphInterface *node_graph)
	Add a node to the graph listener's list of nodes. More...
virtual RCLCPP_PUBLIC bool	has_node (rclcpp::node_interfaces::NodeGraphInterface *node_graph)
	Return true if the given node is in the graph listener's list of nodes. More...
virtual RCLCPP_PUBLIC void	remove_node (rclcpp::node_interfaces::NodeGraphInterface *node_graph)
	Remove a node from the graph listener's list of nodes. More...
virtual RCLCPP_PUBLIC void	shutdown ()
	Stop the listening thread. More...
virtual RCLCPP_PUBLIC void	shutdown (const std::nothrow_t &) noexcept
	Nothrow version of shutdown(), logs to RCLCPP_ERROR instead.
virtual RCLCPP_PUBLIC bool	is_shutdown ()
	Return true if shutdown() has been called, else false.

Protected Member Functions
virtual RCLCPP_PUBLIC void	run ()
	Main function for the listening thread.
virtual RCLCPP_PUBLIC void	run_loop ()
RCLCPP_PUBLIC void	init_wait_set ()
RCLCPP_PUBLIC void	cleanup_wait_set ()

Detailed Description

Notifies many nodes of graph changes by listening in a thread.

Definition at line 63 of file graph_listener.hpp.

Member Function Documentation

add_node()

void rclcpp::graph_listener::GraphListener::add_node ( rclcpp::node_interfaces::NodeGraphInterface *  node_graph )

virtual

Add a node to the graph listener's list of nodes.

Exceptions

GraphListenerShutdownError	if the GraphListener is shutdown
NodeAlreadyAddedError	if the given node is already in the list
std::invalid_argument	if node is nullptr
std::system_error	anything std::mutex::lock() throws

Definition at line 254 of file graph_listener.cpp.

has_node()

bool rclcpp::graph_listener::GraphListener::has_node ( rclcpp::node_interfaces::NodeGraphInterface *  node_graph )

virtual

Return true if the given node is in the graph listener's list of nodes.

Also return false if given nullptr.

Exceptions

std::system_error

anything std::mutex::lock() throws

Definition at line 237 of file graph_listener.cpp.

remove_node()

void rclcpp::graph_listener::GraphListener::remove_node ( rclcpp::node_interfaces::NodeGraphInterface *  node_graph )

virtual

Remove a node from the graph listener's list of nodes.

Exceptions

NodeNotFoundError	if the given node is not in the list
std::invalid_argument	if node is nullptr
std::system_error	anything std::mutex::lock() throws

Definition at line 299 of file graph_listener.cpp.

shutdown()

void rclcpp::graph_listener::GraphListener::shutdown ( )

virtual

Stop the listening thread.

The thread cannot be restarted, and the class is defunct after calling. This function is called by the ~GraphListener() and does nothing if shutdown() was already called. This function exists separately from the ~GraphListener() so that it can be called before and exceptions can be caught.

If start_if_not_started() was never called, this function still succeeds, but start_if_not_started() still cannot be called after this function.

Exceptions

rclcpp::execptions::RCLError	from rcl_guard_condition_fini()
rclcpp::execptions::RCLError	from rcl_wait_set_fini()
std::system_error	anything std::mutex::lock() throws

Definition at line 346 of file graph_listener.cpp.

start_if_not_started()

void rclcpp::graph_listener::GraphListener::start_if_not_started ( )

virtual

Start the graph listener's listen thread if it hasn't been started.

This function is thread-safe.

Exceptions

GraphListenerShutdownError	if the GraphListener is shutdown
std::runtime	if the parent context was destroyed
anything	rclcpp::exceptions::throw_from_rcl_error can throw.

Definition at line 72 of file graph_listener.cpp.

---

The documentation for this class was generated from the following files:

• rclcpp/include/rclcpp/graph_listener.hpp
• rclcpp/src/rclcpp/graph_listener.cpp