Implementation of the NodeBase part of the Node API. More...

#include <rclcpp/node_interfaces/node_base.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeBase:

Collaboration diagram for rclcpp::node_interfaces::NodeBase:

Public Member Functions
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, bool enable_topic_statistics_default, rclcpp::CallbackGroup::SharedPtr default_callback_group=nullptr)
	Constructor. More...

RCLCPP_PUBLIC const char *	get_name () const override
	Return the name of the node. More...

RCLCPP_PUBLIC const char *	get_namespace () const override
	Return the namespace of the node. More...

RCLCPP_PUBLIC const char *	get_fully_qualified_name () const override
	Return the fully qualified name of the node. More...

RCLCPP_PUBLIC rclcpp::Context::SharedPtr	get_context () override
	Return the context of the node. More...

RCLCPP_PUBLIC rcl_node_t *	get_rcl_node_handle () override
	Return the rcl_node_t node handle (non-const version).

RCLCPP_PUBLIC const rcl_node_t *	get_rcl_node_handle () const override
	Return the rcl_node_t node handle (const version).

RCLCPP_PUBLIC std::shared_ptr< rcl_node_t >	get_shared_rcl_node_handle () override
	Return the rcl_node_t node handle in a std::shared_ptr. More...

RCLCPP_PUBLIC std::shared_ptr< const rcl_node_t >	get_shared_rcl_node_handle () const override
	Return the rcl_node_t node handle in a std::shared_ptr. More...

RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr	create_callback_group (rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true) override
	Create and return a callback group.

RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr	get_default_callback_group () override
	Return the default callback group.

RCLCPP_PUBLIC bool	callback_group_in_node (rclcpp::CallbackGroup::SharedPtr group) override
	Return true if the given callback group is associated with this node.

RCLCPP_PUBLIC void	for_each_callback_group (const CallbackGroupFunction &func) override
	Iterate over the stored callback groups, calling the given function on each valid one. More...

RCLCPP_PUBLIC std::atomic_bool &	get_associated_with_executor_atomic () override
	Return the atomic bool which is used to ensure only one executor is used.

RCLCPP_PUBLIC rclcpp::GuardCondition &	get_notify_guard_condition () override
	Return a guard condition that should be notified when the internal node state changes. More...

RCLCPP_PUBLIC rclcpp::GuardCondition::SharedPtr	get_shared_notify_guard_condition () override
	Return a guard condition that should be notified when the internal node state changes. More...

RCLCPP_PUBLIC void	trigger_notify_guard_condition () override
	Trigger the guard condition that notifies of internal node state changes. More...

RCLCPP_PUBLIC bool	get_use_intra_process_default () const override
	Return the default preference for using intra process communication.

bool	get_enable_topic_statistics_default () const override
	Return the default preference for enabling topic statistics collection.

std::string	resolve_topic_or_service_name (const std::string &name, bool is_service, bool only_expand=false) const override
	Expand and remap a given topic or service name.

Additional Inherited Members
Public Types inherited from rclcpp::node_interfaces::NodeBaseInterface
using	CallbackGroupFunction = std::function< void(rclcpp::CallbackGroup::SharedPtr)>

Detailed Description

Implementation of the NodeBase part of the Node API.

Definition at line 37 of file node_base.hpp.

Constructor & Destructor Documentation

◆ NodeBase()

NodeBase::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,
		bool	enable_topic_statistics_default,
		rclcpp::CallbackGroup::SharedPtr	default_callback_group = `nullptr`
	)

Constructor.

If nullptr (default) is given for the default_callback_group, one will be created by the constructor using the create_callback_group() method, but virtual dispatch will not occur so overrides of that method will not be used.

Definition at line 37 of file node_base.cpp.

References rcl_node_options_s::enable_rosout, rcl_get_zero_initialized_node(), rcl_logging_rosout_enabled(), rcl_logging_rosout_init_publisher_for_node(), rcl_node_fini(), rcl_node_init(), RCL_RET_ERROR, RCL_RET_INVALID_ARGUMENT, RCL_RET_NODE_INVALID_NAME, RCL_RET_NODE_INVALID_NAMESPACE, and RCL_RET_OK.

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Member Function Documentation

◆ for_each_callback_group()

void NodeBase::for_each_callback_group ( const CallbackGroupFunction & func )

overridevirtual

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.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 261 of file node_base.cpp.

◆ get_context()

rclcpp::Context::SharedPtr NodeBase::get_context ( )

overridevirtual

Return the context of the node.

Returns: SharedPtr to the node's context.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 189 of file node_base.cpp.

◆ get_fully_qualified_name()

const char * NodeBase::get_fully_qualified_name ( ) const

overridevirtual

Return the fully qualified name of the node.

Returns: The fully qualified name of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 183 of file node_base.cpp.

References rcl_node_get_fully_qualified_name().

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◆ get_name()

const char * NodeBase::get_name ( ) const

overridevirtual

Return the name of the node.

Returns: The name of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 171 of file node_base.cpp.

References rcl_node_get_name().

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◆ get_namespace()

const char * NodeBase::get_namespace ( ) const

overridevirtual

Return the namespace of the node.

Returns: The namespace of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 177 of file node_base.cpp.

References rcl_node_get_namespace().

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◆ get_notify_guard_condition()

rclcpp::GuardCondition & NodeBase::get_notify_guard_condition ( )

overridevirtual

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

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 279 of file node_base.cpp.

◆ get_shared_notify_guard_condition()

rclcpp::GuardCondition::SharedPtr NodeBase::get_shared_notify_guard_condition ( )

overridevirtual

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

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 289 of file node_base.cpp.

◆ get_shared_rcl_node_handle() [1/2]

std::shared_ptr< const rcl_node_t > NodeBase::get_shared_rcl_node_handle ( ) const

overridevirtual

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.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 213 of file node_base.cpp.

◆ get_shared_rcl_node_handle() [2/2]

std::shared_ptr< rcl_node_t > NodeBase::get_shared_rcl_node_handle ( )

overridevirtual

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.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 207 of file node_base.cpp.

◆ trigger_notify_guard_condition()

void NodeBase::trigger_notify_guard_condition ( )

overridevirtual

Trigger the guard condition that notifies of internal node state changes.

For example, this should be notified when a publisher is added or removed.

Implements rclcpp::node_interfaces::NodeBaseInterface.

Definition at line 299 of file node_base.cpp.

Referenced by create_callback_group().

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

rclcpp/include/rclcpp/node_interfaces/node_base.hpp
rclcpp/src/rclcpp/node_interfaces/node_base.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NodeBase()

Member Function Documentation

◆ for_each_callback_group()

◆ get_context()

◆ get_fully_qualified_name()

◆ get_name()

◆ get_namespace()

◆ get_notify_guard_condition()

◆ get_shared_notify_guard_condition()

◆ get_shared_rcl_node_handle() [1/2]

◆ get_shared_rcl_node_handle() [2/2]

◆ trigger_notify_guard_condition()