mrs_lib::errorgraph::Errorgraph::element_t Struct Reference

Internal representation of a node or topic in the error dependency graph. More...

#include <errorgraph.h>

Collaboration diagram for mrs_lib::errorgraph::Errorgraph::element_t:

Public Types
enum class	type_t { node , topic }
	Whether this element represents a node or a topic.

Public Member Functions
	element_t (size_t element_id, const node_id_t &source_node, rclcpp::Clock::SharedPtr clock)
	Construct a node element.
	element_t (size_t element_id, const std::string &topic_name, const node_id_t &source_node, rclcpp::Clock::SharedPtr clock)
	Construct a topic element.
std::vector< const std::string * >	waited_for_topics () const
	Returns pointers to topic names this element is waiting for.
std::vector< const node_id_t * >	waited_for_nodes () const
	Returns pointers to node IDs this element is waiting for.
bool	is_waiting_for () const
	Returns true if this element has any dependency errors.
bool	is_only_waiting_for () const
	Returns true if every non-"no error" entry on this element is a "waiting for" dependency, i.e. the element has no genuine error mixed in among its "waiting for" entries.
bool	is_waiting_for (const node_id_t &node_id) const
	Returns true if this element is waiting for the given node.
bool	is_no_error () const
	Returns true if this element has no errors and is actively reporting.
bool	is_not_reporting () const
	Returns true if this node element has stopped reporting (stale).
errorgraph_element_msg_t	to_msg () const
	Convert to a ROS message.
element_info_t	to_info () const
	Convert to a public element_info_t variant.

Public Attributes
size_t	element_id
	Unique ID of this element within the graph.
type_t	type
	Whether this is a node or topic element.
std::string	topic_name
	Topic name (only meaningful if type == topic).
node_id_t	source_node
	Source node ID, or expected publisher for a topic.
std::vector< error_t >	errors
	List of errors reported by this element (nodes only).
rclcpp::Time	stamp
	Last time this element was updated from a message.
rclcpp::Duration	not_reporting_delay = rclcpp::Duration::from_seconds(DEFAULT_NOT_REPORTING_DELAY_SECONDS)
std::vector< element_t * >	parents
	Elements that depend on (are waiting for) this element.
std::vector< element_t * >	children
	Elements that this element depends on (is waiting for).
bool	visited = false
	Set once this element has been fully processed by Errorgraph::DFS().
bool	on_stack = false
	Set while this element is an ancestor on the current Errorgraph::DFS() path.
bool	loop_root = false
	Set by Errorgraph::DFS() when this element is a member of a genuine dependency loop.
rclcpp::Clock::SharedPtr	clock_

Static Public Attributes
static constexpr double	DEFAULT_NOT_REPORTING_DELAY_SECONDS = 3.0

Detailed Description

Internal representation of a node or topic in the error dependency graph.

Each element is either a ROS node (identified by node_id_t) or a topic (identified by name). Node elements carry a list of errors; topic elements serve as intermediate vertices connecting nodes in the dependency graph.

Note

This type is used internally for graph operations. Public API methods return element_info_t instead.

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The documentation for this struct was generated from the following files:

• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/errorgraph/errorgraph.h
• /home/runner/work/mrs_lib/mrs_lib/src/errorgraph/errorgraph.cpp