Program Listing for File graph_listener.hpp
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// 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_