node.hpp

// Copyright 2014 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_HPP_
#define RCLCPP__NODE_HPP_
 
#include <atomic>
#include <condition_variable>
#include <functional>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
 
#include "rcutils/macros.h"
 
#include "rcl/error_handling.h"
#include "rcl/node.h"
 
#include "rcl_interfaces/msg/list_parameters_result.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
#include "rclcpp/callback_group.hpp"
#include "rclcpp/client.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/event.hpp"
#include "rclcpp/generic_client.hpp"
#include "rclcpp/generic_publisher.hpp"
#include "rclcpp/generic_subscription.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/message_memory_strategy.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
 
class Node : public std::enable_shared_from_this<Node>
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(Node)
 
  
  RCLCPP_PUBLIC
  explicit Node(
    const std::string & node_name,
    const NodeOptions & options = NodeOptions());
 
 
  RCLCPP_PUBLIC
  explicit Node(
    const std::string & node_name,
    const std::string & namespace_,
    const NodeOptions & options = NodeOptions());
 
  RCLCPP_PUBLIC
  virtual ~Node();
 
 
  RCLCPP_PUBLIC
  const char *
  get_name() const;
 
 
  RCLCPP_PUBLIC
  const char *
  get_namespace() const;
 
 
  RCLCPP_PUBLIC
  const char *
  get_fully_qualified_name() const;
 
 
  RCLCPP_PUBLIC
  rclcpp::Logger
  get_logger() const;
 
  RCLCPP_PUBLIC
  rclcpp::CallbackGroup::SharedPtr
  create_callback_group(
    rclcpp::CallbackGroupType group_type,
    bool automatically_add_to_executor_with_node = true);
 
 
  RCLCPP_PUBLIC
  void
  for_each_callback_group(const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
 
 
  template<
    typename MessageT,
    typename AllocatorT = std::allocator<void>,
    typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
  std::shared_ptr<PublisherT>
  create_publisher(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    const PublisherOptionsWithAllocator<AllocatorT> & options =
    PublisherOptionsWithAllocator<AllocatorT>()
  );
 
 
  template<
    typename MessageT,
    typename CallbackT,
    typename AllocatorT = std::allocator<void>,
    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
  >
  std::shared_ptr<SubscriptionT>
  create_subscription(
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    CallbackT && callback,
    const SubscriptionOptionsWithAllocator<AllocatorT> & options =
    SubscriptionOptionsWithAllocator<AllocatorT>(),
    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
      MessageMemoryStrategyT::create_default()
    )
  );
 
 
  template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
  typename rclcpp::WallTimer<CallbackT>::SharedPtr
  create_wall_timer(
    std::chrono::duration<DurationRepT, DurationT> period,
    CallbackT callback,
    rclcpp::CallbackGroup::SharedPtr group = nullptr,
    bool autostart = true);
 
 
  template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
  typename rclcpp::GenericTimer<CallbackT>::SharedPtr
  create_timer(
    std::chrono::duration<DurationRepT, DurationT> period,
    CallbackT callback,
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  template<typename ServiceT>
  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
  typename rclcpp::Client<ServiceT>::SharedPtr
  create_client(
    const std::string & service_name,
    const rmw_qos_profile_t & qos_profile,
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  template<typename ServiceT>
  typename rclcpp::Client<ServiceT>::SharedPtr
  create_client(
    const std::string & service_name,
    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  template<typename ServiceT, typename CallbackT>
  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
  typename rclcpp::Service<ServiceT>::SharedPtr
  create_service(
    const std::string & service_name,
    CallbackT && callback,
    const rmw_qos_profile_t & qos_profile,
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  template<typename ServiceT, typename CallbackT>
  typename rclcpp::Service<ServiceT>::SharedPtr
  create_service(
    const std::string & service_name,
    CallbackT && callback,
    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  RCLCPP_PUBLIC
  rclcpp::GenericClient::SharedPtr
  create_generic_client(
    const std::string & service_name,
    const std::string & service_type,
    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
 
  template<typename AllocatorT = std::allocator<void>>
  std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(
    const std::string & topic_name,
    const std::string & topic_type,
    const rclcpp::QoS & qos,
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
      rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
    )
  );
 
 
  template<
    typename CallbackT,
    typename AllocatorT = std::allocator<void>>
  std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
    const std::string & topic_name,
    const std::string & topic_type,
    const rclcpp::QoS & qos,
    CallbackT && callback,
    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
    )
  );
 
 
  RCLCPP_PUBLIC
  const rclcpp::ParameterValue &
  declare_parameter(
    const std::string & name,
    const rclcpp::ParameterValue & default_value,
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor(),
    bool ignore_override = false);
 
 
  RCLCPP_PUBLIC
  const rclcpp::ParameterValue &
  declare_parameter(
    const std::string & name,
    rclcpp::ParameterType type,
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor{},
    bool ignore_override = false);
 
 
  template<typename ParameterT>
  auto
  declare_parameter(
    const std::string & name,
    const ParameterT & default_value,
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor(),
    bool ignore_override = false);
 
 
  template<typename ParameterT>
  auto
  declare_parameter(
    const std::string & name,
    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
    rcl_interfaces::msg::ParameterDescriptor(),
    bool ignore_override = false);
 
 
  template<typename ParameterT>
  std::vector<ParameterT>
  declare_parameters(
    const std::string & namespace_,
    const std::map<std::string, ParameterT> & parameters,
    bool ignore_overrides = false);
 
 
  template<typename ParameterT>
  std::vector<ParameterT>
  declare_parameters(
    const std::string & namespace_,
    const std::map<
      std::string,
      std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
    > & parameters,
    bool ignore_overrides = false);
 
 
  RCLCPP_PUBLIC
  void
  undeclare_parameter(const std::string & name);
 
 
  RCLCPP_PUBLIC
  bool
  has_parameter(const std::string & name) const;
 
 
  RCLCPP_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameter(const rclcpp::Parameter & parameter);
 
 
  RCLCPP_PUBLIC
  std::vector<rcl_interfaces::msg::SetParametersResult>
  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
 
  RCLCPP_PUBLIC
  rcl_interfaces::msg::SetParametersResult
  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
 
  RCLCPP_PUBLIC
  rclcpp::Parameter
  get_parameter(const std::string & name) const;
 
 
  RCLCPP_PUBLIC
  bool
  get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;
 
 
  template<typename ParameterT>
  bool
  get_parameter(const std::string & name, ParameterT & parameter) const;
 
 
  template<typename ParameterT>
  bool
  get_parameter_or(
    const std::string & name,
    ParameterT & parameter,
    const ParameterT & alternative_value) const;
 
 
  template<typename ParameterT>
  ParameterT
  get_parameter_or(
    const std::string & name,
    const ParameterT & alternative_value) const;
 
 
  RCLCPP_PUBLIC
  std::vector<rclcpp::Parameter>
  get_parameters(const std::vector<std::string> & names) const;
 
 
  template<typename ParameterT>
  bool
  get_parameters(
    const std::string & prefix,
    std::map<std::string, ParameterT> & values) const;
 
 
  RCLCPP_PUBLIC
  rcl_interfaces::msg::ParameterDescriptor
  describe_parameter(const std::string & name) const;
 
 
  RCLCPP_PUBLIC
  std::vector<rcl_interfaces::msg::ParameterDescriptor>
  describe_parameters(const std::vector<std::string> & names) const;
 
 
  RCLCPP_PUBLIC
  std::vector<uint8_t>
  get_parameter_types(const std::vector<std::string> & names) const;
 
 
  RCLCPP_PUBLIC
  rcl_interfaces::msg::ListParametersResult
  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
  using PreSetParametersCallbackHandle =
    rclcpp::node_interfaces::PreSetParametersCallbackHandle;
  using PreSetParametersCallbackType =
    rclcpp::node_interfaces::NodeParametersInterface::PreSetParametersCallbackType;
 
  using OnSetParametersCallbackHandle =
    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
  using OnSetParametersCallbackType =
    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
    OnSetParametersCallbackType;
 
  using PostSetParametersCallbackHandle =
    rclcpp::node_interfaces::PostSetParametersCallbackHandle;
  using PostSetParametersCallbackType =
    rclcpp::node_interfaces::NodeParametersInterface::PostSetParametersCallbackType;
 
 
  RCLCPP_PUBLIC
  RCUTILS_WARN_UNUSED
  PreSetParametersCallbackHandle::SharedPtr
  add_pre_set_parameters_callback(PreSetParametersCallbackType callback);
 
 
  RCLCPP_PUBLIC
  RCUTILS_WARN_UNUSED
  OnSetParametersCallbackHandle::SharedPtr
  add_on_set_parameters_callback(OnSetParametersCallbackType callback);
 
 
  RCLCPP_PUBLIC
  RCUTILS_WARN_UNUSED
  PostSetParametersCallbackHandle::SharedPtr
  add_post_set_parameters_callback(PostSetParametersCallbackType callback);
 
 
  RCLCPP_PUBLIC
  void
  remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle * const handler);
 
 
  RCLCPP_PUBLIC
  void
  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
 
  RCLCPP_PUBLIC
  void
  remove_post_set_parameters_callback(const PostSetParametersCallbackHandle * const handler);
 
 
  RCLCPP_PUBLIC
  std::vector<std::string>
  get_node_names() const;
 
 
  RCLCPP_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_topic_names_and_types() const;
 
 
  RCLCPP_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types() const;
 
 
  RCLCPP_PUBLIC
  std::map<std::string, std::vector<std::string>>
  get_service_names_and_types_by_node(
    const std::string & node_name,
    const std::string & namespace_) const;
 
 
  RCLCPP_PUBLIC
  size_t
  count_publishers(const std::string & topic_name) const;
 
 
  RCLCPP_PUBLIC
  size_t
  count_subscribers(const std::string & topic_name) const;
 
 
  RCLCPP_PUBLIC
  size_t
  count_clients(const std::string & service_name) const;
 
 
  RCLCPP_PUBLIC
  size_t
  count_services(const std::string & service_name) const;
 
 
  RCLCPP_PUBLIC
  std::vector<rclcpp::TopicEndpointInfo>
  get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
 
  RCLCPP_PUBLIC
  std::vector<rclcpp::TopicEndpointInfo>
  get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
  /* The graph Event object is a loan which must be returned.
   * The Event object is scoped and therefore to return the loan just let it go
   * out of scope.
   */
  RCLCPP_PUBLIC
  rclcpp::Event::SharedPtr
  get_graph_event();
 
 
  RCLCPP_PUBLIC
  void
  wait_for_graph_change(
    rclcpp::Event::SharedPtr event,
    std::chrono::nanoseconds timeout);
 
 
  RCLCPP_PUBLIC
  rclcpp::Clock::SharedPtr
  get_clock();
 
 
  RCLCPP_PUBLIC
  rclcpp::Clock::ConstSharedPtr
  get_clock() const;
 
 
  RCLCPP_PUBLIC
  Time
  now() const;
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
  get_node_base_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr
  get_node_clock_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
  get_node_graph_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
  get_node_logging_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
  get_node_timers_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
  get_node_topics_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
  get_node_services_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
  get_node_waitables_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
  get_node_parameters_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
  get_node_time_source_interface();
 
  RCLCPP_PUBLIC
  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
  get_node_type_descriptions_interface();
 
 
  RCLCPP_PUBLIC
  const std::string &
  get_sub_namespace() const;
 
 
  RCLCPP_PUBLIC
  const std::string &
  get_effective_namespace() const;
 
 
  RCLCPP_PUBLIC
  rclcpp::Node::SharedPtr
  create_sub_node(const std::string & sub_namespace);
 
  RCLCPP_PUBLIC
  const rclcpp::NodeOptions &
  get_node_options() const;
 
protected:
 
  RCLCPP_PUBLIC
  Node(
    const Node & other,
    const std::string & sub_namespace);
 
private:
  RCLCPP_DISABLE_COPY(Node)
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
  const rclcpp::NodeOptions node_options_;
  const std::string sub_namespace_;
  const std::string effective_namespace_;
 
  class NodeImpl;
  // This member is meant to be a place to backport features into stable distributions,
  // and new features targeting Rolling should not use this.
  // See the comment in node.cpp for more information.
  std::shared_ptr<NodeImpl> hidden_impl_{nullptr};
};
 
}  // namespace rclcpp
 
#ifndef RCLCPP__NODE_IMPL_HPP_
// Template implementations
#include "node_impl.hpp"
#endif
 
#endif  // RCLCPP__NODE_HPP_