Returns a specification to start this module under a supervisor.

See Supervisor.

@spec create_node(Rclex.Nifs.rcl_context(), charlist(), integer(), (list() -> list())) ::
  {:ok, node_identifier :: charlist()}

Create specified name single Node without namespace. This function calls create_node_with_namespace/5 with namespace = ''.

@spec create_node_with_namespace(
  Rclex.Nifs.rcl_context(),
  charlist(),
  charlist(),
  integer(),
  (list() -> list())
) :: {:ok, node_identifier :: charlist()}

Create specified name single Node with specified namespace.

Arguments

• context: rcl context
• node_name: node name
• node_namespace: node namespace
• queue_length: executor's queue length
• change_order: function which change the order of job

@spec create_nodes(
  Rclex.Nifs.rcl_context(),
  charlist(),
  integer(),
  integer(),
  (list() -> list())
) ::
  {:ok, [node_identifier :: charlist()]} | :error

Create specified name multiple Nodes without namespace. This function calls create_nodes_with_namespace/6 with node_namespace = ''.

@spec create_nodes_with_namespace(
  Rclex.Nifs.rcl_context(),
  charlist(),
  charlist(),
  integer(),
  integer(),
  (list() -> list())
) :: {:ok, [node_identifier :: charlist()]}

Create specified name multiple Nodes with specified node namespace.

@spec create_timer(
  function(),
  any(),
  integer(),
  charlist(),
  integer(),
  (list() -> list())
) ::
  {:ok, timer_identifier :: String.t()}

Create a specified name Rclex.Timer and a Supervisor which supervise the timer. This function calls create_timer_with_limit/7 with limit = 0(no limit).

@spec create_timer_with_limit(
  function(),
  any(),
  integer(),
  charlist(),
  integer(),
  integer(),
  (list() -> list())
) :: {:ok, timer_identifier :: String.t()}

Create a specified name Rclex.Timer and a Supervisor which supervise the timer. Arguments are used to configure Rclex.Timer.

Arguments

• callback: callback function
• args: callback arguments
• time: periodic time, milliseconds
• timer_name: timer name
• limit: limit of execution times, 0 means no limit
• queue_length: executor's queue length
• change_order: function which change the order of job

@spec finish_node(node_identifier :: charlist()) :: :ok | :error

Finish Rclex.Node named with node_identifier by stopping its Supervisor.

@spec finish_nodes([node_identifier :: charlist()]) :: list()

Call finish_node/1 for each node_identifier_list element.

@spec init(any()) :: {:ok, {map()}}

ResourceServerプロセスの初期化
状態:
    supervisor_ids :: map()
    keyがnode_identifier、valueがnode情報。現在はnodeプロセスのsupervisorのidを格納している

@spec stop_timer(timer_identifier :: String.t()) :: :ok | :error

Stop Rclex.Timer named with timer_identifier by stopping its Supervisor.