node_with_optional_master.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
#include <string>
 
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>
#include <ros/datatypes.h>
 
namespace cras
{
 
struct NodeWithOptionalMasterPrivate;
 
class NodeWithOptionalMaster : public ::cras::HasLogger
{
public:
  explicit NodeWithOptionalMaster(const ::cras::LogHelperPtr& log);
  virtual ~NodeWithOptionalMaster();
 
  void init(const ::ros::M_string& remappings, const ::std::string& name, uint32_t options);
 
  void init(int& argc, char** argv, const ::std::string& name, uint32_t options);
 
  void init(const ::ros::VP_string& remappings, const ::std::string& name, uint32_t options);
 
  void shutdown();
 
  bool isInitialized() const;
 
  bool usesMaster() const;
 
  bool ok() const;
 
  ::std::string resolveName(const ::std::string& name, bool remap = true) const;
 
  ::cras::BoundParamHelperPtr getPrivateParams() const;
 
private:
  ::std::unique_ptr<NodeWithOptionalMasterPrivate> data;  
};
 
}