.. _program_listing_file_include_rclcpp_node_interfaces_node_graph.hpp:

Program Listing for File node_graph.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_node_interfaces_node_graph.hpp>` (``include/rclcpp/node_interfaces/node_graph.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016-2017 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_GRAPH_HPP_
   #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_
   
   #include <atomic>
   #include <chrono>
   #include <condition_variable>
   #include <map>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <tuple>
   #include <utility>
   #include <vector>
   
   #include "rcl/guard_condition.h"
   
   #include "rclcpp/event.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_graph_interface.hpp"
   #include "rclcpp/visibility_control.hpp"
   #include "rmw/topic_endpoint_info_array.h"
   
   namespace rclcpp
   {
   
   namespace graph_listener
   {
   class GraphListener;
   }  // namespace graph_listener
   
   namespace node_interfaces
   {
   
   class NodeGraph : public NodeGraphInterface
   {
   public:
     RCLCPP_SMART_PTR_ALIASES_ONLY(NodeGraph)
   
     RCLCPP_PUBLIC
     explicit NodeGraph(rclcpp::node_interfaces::NodeBaseInterface * node_base);
   
     RCLCPP_PUBLIC
     virtual
     ~NodeGraph();
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_topic_names_and_types(bool no_demangle = false) const override;
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types() const override;
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_) const override;
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_client_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_) const override;
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_publisher_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_,
       bool no_demangle = false) const override;
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_subscriber_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_,
       bool no_demangle = false) const override;
   
     RCLCPP_PUBLIC
     std::vector<std::string>
     get_node_names() const override;
   
     RCLCPP_PUBLIC
     std::vector<std::tuple<std::string, std::string, std::string>>
     get_node_names_with_enclaves() const override;
   
     RCLCPP_PUBLIC
     std::vector<std::pair<std::string, std::string>>
     get_node_names_and_namespaces() const override;
   
     RCLCPP_PUBLIC
     size_t
     count_publishers(const std::string & topic_name) const override;
   
     RCLCPP_PUBLIC
     size_t
     count_subscribers(const std::string & topic_name) const override;
   
     RCLCPP_PUBLIC
     size_t
     count_clients(const std::string & service_name) const override;
   
     RCLCPP_PUBLIC
     size_t
     count_services(const std::string & service_name) const override;
   
     RCLCPP_PUBLIC
     const rcl_guard_condition_t *
     get_graph_guard_condition() const override;
   
     RCLCPP_PUBLIC
     void
     notify_graph_change() override;
   
     RCLCPP_PUBLIC
     void
     notify_shutdown() override;
   
     RCLCPP_PUBLIC
     rclcpp::Event::SharedPtr
     get_graph_event() override;
   
     RCLCPP_PUBLIC
     void
     wait_for_graph_change(
       rclcpp::Event::SharedPtr event,
       std::chrono::nanoseconds timeout) override;
   
     RCLCPP_PUBLIC
     size_t
     count_graph_users() const override;
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_publishers_info_by_topic(
       const std::string & topic_name,
       bool no_mangle = false) const override;
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_subscriptions_info_by_topic(
       const std::string & topic_name,
       bool no_mangle = false) const override;
   
   private:
     RCLCPP_DISABLE_COPY(NodeGraph)
   
     
     rclcpp::node_interfaces::NodeBaseInterface * node_base_;
   
     std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
     std::atomic_bool should_add_to_graph_listener_;
   
     mutable std::mutex graph_mutex_;
     std::condition_variable graph_cv_;
     std::vector<rclcpp::Event::WeakPtr> graph_events_;
   
     std::atomic_size_t graph_users_count_;
   };
   
   }  // namespace node_interfaces
   }  // namespace rclcpp
   
   #endif  // RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_