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_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
	Parent elements in the dependency graph.

std::vector< element_t * >	children
	Child elements in the dependency graph.

bool	visited = false
	Visited flag used during graph traversal.

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.

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

include/mrs_lib/errorgraph/errorgraph.h
src/errorgraph/errorgraph.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description