Pure virtual interface class for the NodeBase part of the Node API. More...
#include <rclcpp/node_interfaces/node_base_interface.hpp>
Public Types | |
| using | CallbackGroupFunction = std::function< void(rclcpp::CallbackGroup::SharedPtr)> |
Public Member Functions | |
| virtual RCLCPP_PUBLIC const char * | get_name () const =0 |
| Return the name of the node. More... | |
| virtual RCLCPP_PUBLIC const char * | get_namespace () const =0 |
| Return the namespace of the node. More... | |
| virtual RCLCPP_PUBLIC const char * | get_fully_qualified_name () const =0 |
| Return the fully qualified name of the node. More... | |
| virtual RCLCPP_PUBLIC rclcpp::Context::SharedPtr | get_context ()=0 |
| Return the context of the node. More... | |
| virtual RCLCPP_PUBLIC rcl_node_t * | get_rcl_node_handle ()=0 |
| Return the rcl_node_t node handle (non-const version). | |
| virtual RCLCPP_PUBLIC const rcl_node_t * | get_rcl_node_handle () const =0 |
| Return the rcl_node_t node handle (const version). | |
| virtual RCLCPP_PUBLIC std::shared_ptr< rcl_node_t > | get_shared_rcl_node_handle ()=0 |
| Return the rcl_node_t node handle in a std::shared_ptr. More... | |
| virtual RCLCPP_PUBLIC std::shared_ptr< const rcl_node_t > | get_shared_rcl_node_handle () const =0 |
| Return the rcl_node_t node handle in a std::shared_ptr. More... | |
| virtual RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr | create_callback_group (rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true)=0 |
| Create and return a callback group. | |
| virtual RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr | get_default_callback_group ()=0 |
| Return the default callback group. | |
| virtual RCLCPP_PUBLIC bool | callback_group_in_node (rclcpp::CallbackGroup::SharedPtr group)=0 |
| Return true if the given callback group is associated with this node. | |
| virtual RCLCPP_PUBLIC void | for_each_callback_group (const CallbackGroupFunction &func)=0 |
| Iterate over the stored callback groups, calling the given function on each valid one. More... | |
| virtual RCLCPP_PUBLIC std::atomic_bool & | get_associated_with_executor_atomic ()=0 |
| Return the atomic bool which is used to ensure only one executor is used. | |
| virtual RCLCPP_PUBLIC rclcpp::GuardCondition & | get_notify_guard_condition ()=0 |
| Return a guard condition that should be notified when the internal node state changes. More... | |
| virtual RCLCPP_PUBLIC rclcpp::GuardCondition::SharedPtr | get_shared_notify_guard_condition ()=0 |
| Return a guard condition that should be notified when the internal node state changes. More... | |
| virtual RCLCPP_PUBLIC void | trigger_notify_guard_condition ()=0 |
| Trigger the guard condition that notifies of internal node state changes. More... | |
| virtual RCLCPP_PUBLIC bool | get_use_intra_process_default () const =0 |
| Return the default preference for using intra process communication. | |
| virtual RCLCPP_PUBLIC bool | get_enable_topic_statistics_default () const =0 |
| Return the default preference for enabling topic statistics collection. | |
| virtual RCLCPP_PUBLIC std::string | resolve_topic_or_service_name (const std::string &name, bool is_service, bool only_expand=false) const =0 |
| Expand and remap a given topic or service name. | |
Detailed Description
Pure virtual interface class for the NodeBase part of the Node API.
Definition at line 38 of file node_base_interface.hpp.
Member Function Documentation
◆ for_each_callback_group()
|
pure virtual |
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.
- Parameters
-
[in] func The callback function to call on each valid callback group.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_context()
|
pure virtual |
Return the context of the node.
- Returns
- SharedPtr to the node's context.
Implemented in rclcpp::node_interfaces::NodeBase.
Referenced by rclcpp::create_timer(), rclcpp::create_wall_timer(), rclcpp::Publisher< MessageT, AllocatorT >::post_init_setup(), and rclcpp::node_interfaces::NodeGraph::wait_for_graph_change().
◆ get_fully_qualified_name()
|
pure virtual |
Return the fully qualified name of the node.
- Returns
- The fully qualified name of the node.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_name()
|
pure virtual |
Return the name of the node.
- Returns
- The name of the node.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_namespace()
|
pure virtual |
Return the namespace of the node.
- Returns
- The namespace of the node.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_notify_guard_condition()
|
pure virtual |
Return a guard condition that should be notified when the internal node state changes.
For example, this should be notified when a publisher is added or removed.
- Returns
- the GuardCondition if it is valid, else throw runtime error
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_shared_notify_guard_condition()
|
pure virtual |
Return a guard condition that should be notified when the internal node state changes.
For example, this should be notified when a publisher is added or removed.
- Returns
- the GuardCondition if it is valid, else nullptr
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_shared_rcl_node_handle() [1/2]
|
pure virtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ get_shared_rcl_node_handle() [2/2]
|
pure virtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implemented in rclcpp::node_interfaces::NodeBase.
◆ trigger_notify_guard_condition()
|
pure virtual |
Trigger the guard condition that notifies of internal node state changes.
For example, this should be notified when a publisher is added or removed.
Implemented in rclcpp::node_interfaces::NodeBase.
Referenced by rclcpp::node_interfaces::NodeTimers::add_timer(), and rclcpp::node_interfaces::NodeGraph::notify_graph_change().
The documentation for this class was generated from the following file:
- rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
