#include <Node.hpp>

Public Types
using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

Public Member Functions
template<class T >
bool	addWorker (const std::string &name, const double timestep, bool(T::fp)(const bota_worker::WorkerEvent &), T obj, const int priority=0)

bool	addWorker (const bota_worker::WorkerOptions &options)

void	cancelWorker (const std::string &name, const bool wait=true)

virtual void	cleanup ()=0

ros::NodeHandle &	getNodeHandle () const

bool	hasWorker (const std::string &name)

virtual bool	init ()=0

	Node ()=delete

	Node (NodeHandlePtr nh)

virtual void	preCleanup ()

void	shutdown ()

void	stopAllWorkers ()

void	stopAllWorkers (bool wait)

virtual	~Node ()=default

Protected Attributes
NodeHandlePtr	nh_

Private Attributes
bota_worker::WorkerManager	workerManager_

Detailed Description

Definition at line 21 of file Node.hpp.

Member Typedef Documentation

using bota_node::Node::NodeHandlePtr = std::shared_ptr<ros::NodeHandle>

Definition at line 24 of file Node.hpp.

Constructor & Destructor Documentation

bota_node::Node::Node ( )

delete

bota_node::Node::Node ( NodeHandlePtr nh )

explicit

Definition at line 13 of file Node.cpp.

virtual bota_node::Node::~Node ( )

virtualdefault

Member Function Documentation

template<class T >

bool bota_node::Node::addWorker	(	const std::string &	name,
		const double	timestep,
		bool(T::*)(const bota_worker::WorkerEvent &)	fp,
		T *	obj,
		const int	priority = `0`
	)

inline

Helper functions to add Workers to the WorkerManager

Definition at line 65 of file Node.hpp.

bool bota_node::Node::addWorker ( const bota_worker::WorkerOptions & options )

inline

Definition at line 71 of file Node.hpp.

void bota_node::Node::cancelWorker	(	const std::string &	name,
		const bool	wait = `true`
	)

inline

Stop a worker managed by the WorkerManager

Parameters

name	Name of the worker
wait	Whether to wait until the worker has finished or return immediately

Definition at line 91 of file Node.hpp.

virtual void bota_node::Node::cleanup ( )

pure virtual

Cleanup function, called by Nodewrap after stopping workers. This function is called even if init() returned false.

ros::NodeHandle& bota_node::Node::getNodeHandle ( ) const

inline

Definition at line 111 of file Node.hpp.

bool bota_node::Node::hasWorker ( const std::string & name )

inline

Check if WorkerManager is managing a Worker with given name

Parameters

name	Name of the worker

Returns: True if worker was found

Definition at line 81 of file Node.hpp.

virtual bool bota_node::Node::init ( )

pure virtual

Init function, used to initialize all members and starting workers (if any).

Returns: True if successful. Returning false indicates that the node shall shut down.

virtual void bota_node::Node::preCleanup ( )

inlinevirtual

Pre-Cleanup function, which is called by Nodewrap before stopping workers. (Thread safety up to the user!). This function is called even if init() returned false.

Definition at line 43 of file Node.hpp.

void bota_node::Node::shutdown ( )

Method to signal nodewrap to shutdown the node.

Definition at line 17 of file Node.cpp.

void bota_node::Node::stopAllWorkers ( )

inline

Method to stop all workers managed by the WorkerManager

Definition at line 99 of file Node.hpp.

void bota_node::Node::stopAllWorkers ( bool wait )

inline

Definition at line 103 of file Node.hpp.

Member Data Documentation

NodeHandlePtr bota_node::Node::nh_

protected

Definition at line 117 of file Node.hpp.

bota_worker::WorkerManager bota_node::Node::workerManager_

private

Definition at line 120 of file Node.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation