yasmin_ros.yasmin_node.YasminNode Class Reference

Inheritance diagram for yasmin_ros.yasmin_node.YasminNode:

Collaboration diagram for yasmin_ros.yasmin_node.YasminNode:

Public Member Functions
None	__init__ (self)

Static Public Member Functions
"YasminNode"	get_instance ()

Protected Attributes
MultiThreadedExecutor	_executor = MultiThreadedExecutor()
	Executor for managing node operations.
Thread	_spin_thread = Thread(target=self._executor.spin)
	Thread to execute the spinning of the node.

Static Protected Attributes
str	_instance = None
	The single instance of YasminNode.
RLock	_lock = RLock()
	Lock to control access to the instance.

Detailed Description

A Singleton ROS 2 Node for the Yasmin application.

This class implements a Singleton pattern to ensure that only one instance
of YasminNode exists throughout the application. It manages a ROS 2 Node
and a MultiThreadedExecutor to handle callbacks.

@section attributes Attributes
- _instance: The single instance of YasminNode.
- _lock: A reentrant lock for thread safety.
- _executor: An instance of MultiThreadedExecutor to manage node execution.
- _spin_thread: A thread that runs the executor's spin method.

@exception RuntimeError Raised when attempting to instantiate the node more than once.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.yasmin_node.YasminNode.__init__

(

self

)

Initializes the YasminNode instance.

This constructor initializes the ROS 2 Node with a unique name and
starts a MultiThreadedExecutor for handling node callbacks.
It raises a RuntimeError if an attempt is made to create a second instance
of this Singleton class.

@exception RuntimeError Raised when an attempt is made to create
more than one instance of YasminNode.

Member Function Documentation

get_instance()

"YasminNode" yasmin_ros.yasmin_node.YasminNode.get_instance ( )

static

Retrieves the single instance of YasminNode.

If the instance does not exist, it creates one in a thread-safe manner.

@return A reference to the YasminNode instance.

@exception RuntimeError Raised if the creation of the instance fails.

Member Data Documentation

_executor

MultiThreadedExecutor yasmin_ros.yasmin_node.YasminNode._executor = MultiThreadedExecutor()

protected

Executor for managing node operations.

_instance

str yasmin_ros.yasmin_node.YasminNode._instance = None

staticprotected

The single instance of YasminNode.

_lock

RLock yasmin_ros.yasmin_node.YasminNode._lock = RLock()

staticprotected

Lock to control access to the instance.

_spin_thread

Thread yasmin_ros.yasmin_node.YasminNode._spin_thread = Thread(target=self._executor.spin)

protected

Thread to execute the spinning of the node.

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

• yasmin_ros/yasmin_ros/yasmin_node.py