node_base_interface.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_INTERFACE_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
 
#include <atomic>
#include <functional>
#include <memory>
#include <string>
 
#include "rcl/node.h"
 
#include "rclcpp/callback_group.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
namespace node_interfaces
{
 
class NodeBaseInterface
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
 
  RCLCPP_PUBLIC
  virtual
  ~NodeBaseInterface() = default;
 
 
  RCLCPP_PUBLIC
  virtual
  const char *
  get_name() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  const char *
  get_namespace() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  const char *
  get_fully_qualified_name() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::Context::SharedPtr
  get_context() = 0;
 
  RCLCPP_PUBLIC
  virtual
  rcl_node_t *
  get_rcl_node_handle() = 0;
 
  RCLCPP_PUBLIC
  virtual
  const rcl_node_t *
  get_rcl_node_handle() const = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::shared_ptr<rcl_node_t>
  get_shared_rcl_node_handle() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::shared_ptr<const rcl_node_t>
  get_shared_rcl_node_handle() const = 0;
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::CallbackGroup::SharedPtr
  create_callback_group(
    rclcpp::CallbackGroupType group_type,
    bool automatically_add_to_executor_with_node = true) = 0;
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::CallbackGroup::SharedPtr
  get_default_callback_group() = 0;
 
  RCLCPP_PUBLIC
  virtual
  bool
  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
 
  using CallbackGroupFunction = std::function<void (rclcpp::CallbackGroup::SharedPtr)>;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  for_each_callback_group(const CallbackGroupFunction & func) = 0;
 
  RCLCPP_PUBLIC
  virtual
  std::atomic_bool &
  get_associated_with_executor_atomic() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::GuardCondition &
  get_notify_guard_condition() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  rclcpp::GuardCondition::SharedPtr
  get_shared_notify_guard_condition() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  trigger_notify_guard_condition() = 0;
 
  RCLCPP_PUBLIC
  virtual
  bool
  get_use_intra_process_default() const = 0;
 
  RCLCPP_PUBLIC
  virtual
  bool
  get_enable_topic_statistics_default() const = 0;
 
  RCLCPP_PUBLIC
  virtual
  std::string
  resolve_topic_or_service_name(
    const std::string & name, bool is_service, bool only_expand = false) const = 0;
};
 
}  // namespace node_interfaces
}  // namespace rclcpp
 
RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)
 
#endif  // RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_