stateful_nodelet.hpp

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#pragma once

#include <nodelet/nodelet.h>
#include <ros/duration.h>

#include <cras_cpp_common/time_utils/interruptible_sleep_interface.h>

namespace cras
{

bool isNodeletUnloading(const ::nodelet::Nodelet& nodelet);

struct StatefulNodeletInterface : public ::cras::InterruptibleSleepInterface
{
public:
  virtual void requestStop() = 0;
};

template <typename NodeletType = ::nodelet::Nodelet>
class StatefulNodelet : public virtual NodeletType, public ::cras::StatefulNodeletInterface
{
public:
  virtual ~StatefulNodelet();
  bool ok() const override;
  void requestStop() override;

  [[deprecated("Use requestStop() instead.")]] void shutdown();

protected:
  using NodeletType::getName;

private:
  volatile bool shouldStop = false;
};

}

#include "impl/stateful_nodelet.hpp"