.. _program_listing_file_include_rclcpp_graph_listener.hpp:

Program Listing for File graph_listener.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_graph_listener.hpp>` (``include/rclcpp/graph_listener.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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__GRAPH_LISTENER_HPP_
   #define RCLCPP__GRAPH_LISTENER_HPP_
   
   #include <atomic>
   #include <memory>
   #include <mutex>
   #include <thread>
   #include <vector>
   
   #include "rcl/guard_condition.h"
   #include "rcl/wait.h"
   #include "rclcpp/context.hpp"
   #include "rclcpp/guard_condition.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node_interfaces/node_graph_interface.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   
   namespace graph_listener
   {
   
   class GraphListenerShutdownError : public std::runtime_error
   {
   public:
     GraphListenerShutdownError()
     : std::runtime_error("GraphListener already shutdown") {}
   };
   
   class NodeAlreadyAddedError : public std::runtime_error
   {
   public:
     NodeAlreadyAddedError()
     : std::runtime_error("node already added") {}
   };
   
   class NodeNotFoundError : public std::runtime_error
   {
   public:
     NodeNotFoundError()
     : std::runtime_error("node not found") {}
   };
   
   class GraphListener : public std::enable_shared_from_this<GraphListener>
   {
   public:
     RCLCPP_PUBLIC
     explicit GraphListener(const rclcpp::Context::SharedPtr & parent_context);
   
     RCLCPP_PUBLIC
     virtual ~GraphListener();
   
   
     RCLCPP_PUBLIC
     virtual
     void
     start_if_not_started();
   
   
     RCLCPP_PUBLIC
     virtual
     void
     add_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
   
   
     RCLCPP_PUBLIC
     virtual
     bool
     has_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
   
   
     RCLCPP_PUBLIC
     virtual
     void
     remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
   
   
     RCLCPP_PUBLIC
     virtual
     void
     shutdown();
   
     RCLCPP_PUBLIC
     virtual
     void
     shutdown(const std::nothrow_t &) noexcept;
   
     RCLCPP_PUBLIC
     virtual
     bool
     is_shutdown();
   
   protected:
     RCLCPP_PUBLIC
     virtual
     void
     run();
   
     RCLCPP_PUBLIC
     virtual
     void
     run_loop();
   
     RCLCPP_PUBLIC
     void
     init_wait_set();
   
     RCLCPP_PUBLIC
     void
     cleanup_wait_set();
   
   private:
     RCLCPP_DISABLE_COPY(GraphListener)
   
     
     void
     __shutdown();
   
     std::weak_ptr<rclcpp::Context> weak_parent_context_;
     std::shared_ptr<rcl_context_t> rcl_parent_context_;
   
     std::thread listener_thread_;
     bool is_started_;
     std::atomic_bool is_shutdown_;
     mutable std::mutex shutdown_mutex_;
   
     mutable std::mutex node_graph_interfaces_barrier_mutex_;
     mutable std::mutex node_graph_interfaces_mutex_;
     std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
   
     rclcpp::GuardCondition interrupt_guard_condition_;
     rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
   };
   
   }  // namespace graph_listener
   }  // namespace rclcpp
   
   #endif  // RCLCPP__GRAPH_LISTENER_HPP_