Added functions Nodelet::ok() and Nodelet::requestStop().

ros · Feb 5, 2022 · ab95aa5 · ab95aa5
1 parent 3eabcdc
commit ab95aa5
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diff --git a/nodelet/include/nodelet/nodelet.h b/nodelet/include/nodelet/nodelet.h
@@ -234,6 +234,17 @@ class NODELETLIB_DECL Nodelet
             ros::CallbackQueueInterface* st_queue = NULL,
             ros::CallbackQueueInterface* mt_queue = NULL);
 
+  /**\brief Whether it is OK to continue working with this nodelet. This function starts returning true right
+   *        before onInit() is called and starts returning false when the nodelet is requested to stop via
+   *        requestStop() or execution of its destructor.
+   * \return Status of the nodelet.
+   */
+  bool ok() const;
+
+  /**\brief Request this nodelet to stop. This function returns immediately. Afterwards, ok() returns false.
+   */
+  void requestStop();
+
   virtual ~Nodelet();
 };
 

diff --git a/nodelet/src/loader.cpp b/nodelet/src/loader.cpp
@@ -194,6 +194,7 @@ struct ManagedNodelet : boost::noncopyable
 
   ~ManagedNodelet()
   {
+    nodelet->requestStop();
     callback_manager->removeQueue(st_queue);
     callback_manager->removeQueue(mt_queue);
   }

diff --git a/nodelet/src/nodelet_class.cpp b/nodelet/src/nodelet_class.cpp
@@ -45,6 +45,7 @@ Nodelet::Nodelet ()
 
 Nodelet::~Nodelet()
 {
+  requestStop();
 }
 
 ros::CallbackQueueInterface& Nodelet::getSTCallbackQueue () const
@@ -134,4 +135,14 @@ void Nodelet::init(const std::string& name, const M_string& remapping_args, cons
   this->onInit ();
 }
 
+bool Nodelet::ok() const
+{
+  return inited_;
+}
+
+void Nodelet::requestStop()
+{
+  inited_ = false;
+}
+
 } // namespace nodelet