.. _program_listing_file_include_rclcpp_node_interfaces_node_base.hpp:

Program Listing for File node_base.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_node_interfaces_node_base.hpp>` (``include/rclcpp/node_interfaces/node_base.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__NODE_INTERFACES__NODE_BASE_HPP_
   #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
   
   #include <functional>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <vector>
   
   #include "rcl/node.h"
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/context.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   namespace node_interfaces
   {
   
   class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<NodeBase>
   {
   public:
     RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
   
     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_PUBLIC
     virtual
     ~NodeBase();
   
     RCLCPP_PUBLIC
     const char *
     get_name() const override;
   
     RCLCPP_PUBLIC
     const char *
     get_namespace() const override;
   
     RCLCPP_PUBLIC
     const char *
     get_fully_qualified_name() const override;
   
     RCLCPP_PUBLIC
     rclcpp::Context::SharedPtr
     get_context() override;
   
     RCLCPP_PUBLIC
     rcl_node_t *
     get_rcl_node_handle() override;
   
     RCLCPP_PUBLIC
     const rcl_node_t *
     get_rcl_node_handle() const override;
   
     RCLCPP_PUBLIC
     std::shared_ptr<rcl_node_t>
     get_shared_rcl_node_handle() override;
   
     RCLCPP_PUBLIC
     std::shared_ptr<const rcl_node_t>
     get_shared_rcl_node_handle() const override;
   
     RCLCPP_PUBLIC
     rclcpp::CallbackGroup::SharedPtr
     create_callback_group(
       rclcpp::CallbackGroupType group_type,
       bool automatically_add_to_executor_with_node = true) override;
   
     RCLCPP_PUBLIC
     rclcpp::CallbackGroup::SharedPtr
     get_default_callback_group() override;
   
     RCLCPP_PUBLIC
     bool
     callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
   
   
     RCLCPP_PUBLIC
     void
     for_each_callback_group(const CallbackGroupFunction & func) override;
   
     RCLCPP_PUBLIC
     std::atomic_bool &
     get_associated_with_executor_atomic() override;
   
     RCLCPP_PUBLIC
     rclcpp::GuardCondition &
     get_notify_guard_condition() override;
   
     RCLCPP_PUBLIC
     bool
     get_use_intra_process_default() const override;
   
     bool
     get_enable_topic_statistics_default() const override;
   
     std::string
     resolve_topic_or_service_name(
       const std::string & name, bool is_service, bool only_expand = false) const override;
   
   private:
     RCLCPP_DISABLE_COPY(NodeBase)
   
     rclcpp::Context::SharedPtr context_;
     bool use_intra_process_default_;
     bool enable_topic_statistics_default_;
   
     std::shared_ptr<rcl_node_t> node_handle_;
   
     rclcpp::CallbackGroup::SharedPtr default_callback_group_;
     std::mutex callback_groups_mutex_;
     std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
   
     std::atomic_bool associated_with_executor_;
   
     mutable std::recursive_mutex notify_guard_condition_mutex_;
     rclcpp::GuardCondition notify_guard_condition_;
     bool notify_guard_condition_is_valid_;
   };
   
   }  // namespace node_interfaces
   }  // namespace rclcpp
   
   #endif  // RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_