rclcpp::Context Class Reference

#include <rclcpp.hpp>

Public Types
using	SharedPtr = Context

Public Member Functions
Result	add_on_shutdown_callback (ShutdownCallback callback, void *context, OnShutdownCallbackHandle *out=nullptr)
Result	add_pre_shutdown_callback (ShutdownCallback callback, void *context, PreShutdownCallbackHandle *out=nullptr)
	The C-callback forms, on every target. See rclcpp::pre_shutdown.
	Context ()
	Context (void *executor)
void *	executor_handle () const
	The executor handle this context names; null for an empty one.
bool	is_valid () const
	Context::is_valid() — named, and not yet shut down.
Context *	operator-> ()
const Context *	operator-> () const
bool	remove_on_shutdown_callback (const OnShutdownCallbackHandle &handle)
bool	remove_pre_shutdown_callback (const PreShutdownCallbackHandle &handle)
	true when handle named a live callback.

Detailed Description

rclcpp::Context (phase-488) — a VIEW of one executor's lifetime: its pre- and on-shutdown hooks (issue 0790) and whether it is still running.

Upstream's context owns the rcl init state and is reached through a shared_ptr. nano-ros's executor owns that state, so this names one by its handle: SharedPtr is the view itself and -> reaches it, so rclcpp::Context::SharedPtr c = node->get_node_base_interface()->get_context(); c->add_pre_shutdown_callback(cb) spells as upstream's does. The hooks share the executor's fixed table (NROS_EXECUTOR_MAX_SHUTDOWN_CBS, default 2): a full table returns an INVALID handle on the std surface, where upstream would allocate.

Member Typedef Documentation

SharedPtr

using rclcpp::Context::SharedPtr = Context

Constructor & Destructor Documentation

Context() [1/2]

rclcpp::Context::Context ( )

inline

Context() [2/2]

rclcpp::Context::Context ( void * executor )

inlineexplicit

Member Function Documentation

add_on_shutdown_callback()

Result rclcpp::Context::add_on_shutdown_callback ( ShutdownCallback callback, void * context, OnShutdownCallbackHandle * out = nullptr )

inline

See also

add_pre_shutdown_callback

add_pre_shutdown_callback()

Result rclcpp::Context::add_pre_shutdown_callback ( ShutdownCallback callback, void * context, PreShutdownCallbackHandle * out = nullptr )

inline

The C-callback forms, on every target. See rclcpp::pre_shutdown.

executor_handle()

void * rclcpp::Context::executor_handle ( ) const

inline

The executor handle this context names; null for an empty one.

is_valid()

bool rclcpp::Context::is_valid ( ) const

inline

Context::is_valid() — named, and not yet shut down.

operator->() [1/2]

Context * rclcpp::Context::operator-> ( )

inline

operator->() [2/2]

const Context * rclcpp::Context::operator-> ( ) const

inline

remove_on_shutdown_callback()

bool rclcpp::Context::remove_on_shutdown_callback ( const OnShutdownCallbackHandle & handle )

inline

See also

remove_pre_shutdown_callback

remove_pre_shutdown_callback()

bool rclcpp::Context::remove_pre_shutdown_callback ( const PreShutdownCallbackHandle & handle )

inline

true when handle named a live callback.

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The documentation for this class was generated from the following file:

• include/rclcpp/rclcpp.hpp