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"