Class Bond

Defined in File bond.hpp

Class Documentation

class Bond

Forms a bond to monitor another process.

The bond::Bond class implements a bond, allowing you to monitor another process and be notified when it dies. In turn, it will be notified when you die.

Public Functions

Bond(const std::string &topic, const std::string &id, rclcpp_lifecycle::LifecycleNode::SharedPtr nh, std::function<void(void)> on_broken = std::function<void(void)>(), std::function<void(void)> on_formed = std::function<void(void)>())

Constructs a bond, but does not connect.

Parameters:

topic – The topic used to exchange the bond status messages.
id – The ID of the bond, which should match the ID used on the sister’s end.
nh – Lifecycle Node shared ptr.
on_broken – callback that will be called when the bond is broken.
on_formed – callback that will be called when the bond is formed.

Bond(const std::string &topic, const std::string &id, rclcpp::Node::SharedPtr nh, std::function<void(void)> on_broken = std::function<void(void)>(), std::function<void(void)> on_formed = std::function<void(void)>())

Constructs a bond, but does not connect.

Parameters:

topic – The topic used to exchange the bond status messages.
id – The ID of the bond, which should match the ID used on the sister’s end.
nh – Node shared ptr.
on_broken – callback that will be called when the bond is broken.
on_formed – callback that will be called when the bond is formed.

~Bond(): Destructs the object, breaking the bond if it is still formed.

void setupConnections()

inline double getConnectTimeout() const

void setConnectTimeout(double dur)

void connectTimerReset()

void connectTimerCancel()

inline double getDisconnectTimeout() const

void setDisconnectTimeout(double dur)

void disconnectTimerReset()

void disconnectTimerCancel()

inline double getHeartbeatTimeout() const

void setHeartbeatTimeout(double dur)

void heartbeatTimerReset()

void heartbeatTimerCancel()

inline double getHeartbeatPeriod() const

void setHeartbeatPeriod(double dur)

void publishingTimerReset()

void publishingTimerCancel()

inline double getDeadPublishPeriod() const

void setDeadPublishPeriod(double dur)

void deadpublishingTimerReset()

void deadpublishingTimerCancel()

void start(): Starts the bond and connects to the sister process.

void setFormedCallback(std::function<void(void)> on_formed): Sets the formed callback.

void setBrokenCallback(std::function<void(void)> on_broken): Sets the broken callback.

bool waitUntilFormed(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)))

Blocks until the bond is formed for at most ‘duration’. Assumes the node to be spinning in the background.

Parameters:: timeout – Maximum duration to wait. If -1 then this call will not timeout.
Returns:: true iff the bond has been formed.

bool waitUntilBroken(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)))

Blocks until the bond is broken for at most ‘duration’. Assumes the node to be spinning in the background.

Parameters:: timeout – Maximum duration to wait. If -1 then this call will not timeout.
Returns:: true iff the bond has been broken, even if it has never been formed.

bool isBroken(): Indicates if the bond is broken.

void breakBond(): Breaks the bond, notifying the other process.

inline std::string getTopic()

inline std::string getId()

inline std::string getInstanceId()

Friends

friend struct ::BondSM