Node.hpp

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#pragma once
 
#include <ros/ros.h>
#include <sched.h>
#include <unistd.h>  // for getpid()
#include <memory>    // for std::shared_ptr
 
#include "bota_worker/WorkerManager.hpp"
#include "bota_worker/WorkerOptions.hpp"
 
namespace bota_node
{
bool setProcessPriority(int priority);
 
class Node
{
public:
  using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
 
  Node() = delete;
  explicit Node(NodeHandlePtr nh);
  virtual ~Node() = default;
 
  /*
   * (abstract) interface functions
   */
 
  virtual bool init() = 0;
  virtual void preCleanup()
  {
  }
  virtual void cleanup() = 0;
 
  /*
   * general
   */
 
  void shutdown();
 
  template <class T>
  inline bool addWorker(const std::string& name, const double timestep, bool (T::*fp)(const bota_worker::WorkerEvent&),
                        T* obj, const int priority = 0)
  {
    return workerManager_.addWorker(name, timestep, fp, obj, priority);
  }
 
  inline bool addWorker(const bota_worker::WorkerOptions& options)
  {
    return workerManager_.addWorker(options);
  }
 
  inline bool hasWorker(const std::string& name)
  {
    return workerManager_.hasWorker(name);
  }
 
  inline void cancelWorker(const std::string& name, const bool wait = true)
  {
    workerManager_.cancelWorker(name, wait);
  }
 
  inline void stopAllWorkers()
  {
    stopAllWorkers(true);
  }
  inline void stopAllWorkers(bool wait)
  {
    workerManager_.cancelWorkers(wait);
  }
 
  /*
   * accessors
   */
  inline ros::NodeHandle& getNodeHandle() const
  {
    return *nh_;
  }
 
protected:
  NodeHandlePtr nh_;
 
private:
  bota_worker::WorkerManager workerManager_;
};
 
}  // namespace bota_node