bota_node::Nodewrap< NodeImpl > Class Template Reference

#include <Nodewrap.hpp>

Public Member Functions
void	cleanup ()
bool	execute ()
NodeImpl *	getImplPtr ()
bool	init ()
	Nodewrap ()=delete
	Nodewrap (int argc, char **argv, const std::string &nodeName, int numSpinners=-1, const bool installSignalHandler=true)
void	run ()
void	signalHandler (const int signum)
	INTERNAL FUNCTIONS. More...
void	stop ()
virtual	~Nodewrap ()=default

Static Public Member Functions
static void	checkSteadyClock ()

Protected Attributes
std::condition_variable	cvRunning_
std::unique_ptr< NodeImpl >	impl_
std::mutex	mutexRunning_
std::shared_ptr< ros::NodeHandle >	nh_
std::atomic< bool >	running_
bool	signalHandlerInstalled_
std::unique_ptr< ros::AsyncSpinner >	spinner_

Detailed Description

template<class NodeImpl>
class bota_node::Nodewrap< NodeImpl >

Definition at line 22 of file Nodewrap.hpp.

Constructor & Destructor Documentation

template<class NodeImpl >

bota_node::Nodewrap< NodeImpl >::Nodewrap ( )

delete

template<class NodeImpl >

bota_node::Nodewrap< NodeImpl >::Nodewrap ( int  argc, char **  argv, const std::string &  nodeName, int  numSpinners = -1, const bool  installSignalHandler = true  )

inline

Parameters

argc
argv
nodeName	name of the node
numSpinners	number of async ros spinners. Set to -1 to get value from ros params. A value of 0 means to use the number of processor cores.
installSignalHandler	set to False to use the ros internal signal handler instead

Definition at line 35 of file Nodewrap.hpp.

template<class NodeImpl >

virtual bota_node::Nodewrap< NodeImpl >::~Nodewrap ( )

virtualdefault

Member Function Documentation

template<class NodeImpl >

static void bota_node::Nodewrap< NodeImpl >::checkSteadyClock ( )

inlinestatic

Definition at line 160 of file Nodewrap.hpp.

template<class NodeImpl >

void bota_node::Nodewrap< NodeImpl >::cleanup ( )

inline

Stops the workers, ros spinners and calls cleanup of the underlying instance of bota_node::Node

Definition at line 124 of file Nodewrap.hpp.

template<class NodeImpl >

bool bota_node::Nodewrap< NodeImpl >::execute ( )

inline

blocking call, executes init, run (if init() was successful) and cleanup (independent of the success of init()).

Definition at line 79 of file Nodewrap.hpp.

template<class NodeImpl >

NodeImpl* bota_node::Nodewrap< NodeImpl >::getImplPtr ( )

inline

Definition at line 172 of file Nodewrap.hpp.

template<class NodeImpl >

bool bota_node::Nodewrap< NodeImpl >::init ( )

inline

Initializes the node

Definition at line 93 of file Nodewrap.hpp.

template<class NodeImpl >

void bota_node::Nodewrap< NodeImpl >::run ( )

inline

blocking call, returns when the program should shut down

Definition at line 114 of file Nodewrap.hpp.

template<class NodeImpl >

void bota_node::Nodewrap< NodeImpl >::signalHandler ( const int  signum )

inline

INTERNAL FUNCTIONS.

Definition at line 148 of file Nodewrap.hpp.

template<class NodeImpl >

void bota_node::Nodewrap< NodeImpl >::stop ( )

inline

Stops execution of the run(..) function.

Definition at line 140 of file Nodewrap.hpp.

Member Data Documentation

template<class NodeImpl >

std::condition_variable bota_node::Nodewrap< NodeImpl >::cvRunning_

protected

Definition at line 185 of file Nodewrap.hpp.

template<class NodeImpl >

std::unique_ptr<NodeImpl> bota_node::Nodewrap< NodeImpl >::impl_

protected

Definition at line 180 of file Nodewrap.hpp.

template<class NodeImpl >

std::mutex bota_node::Nodewrap< NodeImpl >::mutexRunning_

protected

Definition at line 186 of file Nodewrap.hpp.

template<class NodeImpl >

std::shared_ptr<ros::NodeHandle> bota_node::Nodewrap< NodeImpl >::nh_

protected

Definition at line 178 of file Nodewrap.hpp.

template<class NodeImpl >

std::atomic<bool> bota_node::Nodewrap< NodeImpl >::running_

protected

Definition at line 184 of file Nodewrap.hpp.

template<class NodeImpl >

bool bota_node::Nodewrap< NodeImpl >::signalHandlerInstalled_

protected

Definition at line 182 of file Nodewrap.hpp.

template<class NodeImpl >

std::unique_ptr<ros::AsyncSpinner> bota_node::Nodewrap< NodeImpl >::spinner_

protected

Definition at line 179 of file Nodewrap.hpp.

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

• Nodewrap.hpp