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C++ ROS Client Library API
node_waitables_interface.hpp
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1 // Copyright 2018 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_
17 
19 #include "rclcpp/macros.hpp"
21 #include "rclcpp/waitable.hpp"
22 
23 namespace rclcpp
24 {
25 namespace node_interfaces
26 {
27 
30 {
31 public:
33 
35  virtual
36  ~NodeWaitablesInterface() = default;
37 
39  virtual
40  void
42  rclcpp::Waitable::SharedPtr waitable_ptr,
43  rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
44 
47  virtual
48  void
50  rclcpp::Waitable::SharedPtr waitable_ptr,
51  rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept = 0;
52 };
53 
54 } // namespace node_interfaces
55 } // namespace rclcpp
56 
57 #endif // RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24
virtual void remove_waitable(rclcpp::Waitable::SharedPtr waitable_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept=0
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual void add_waitable(rclcpp::Waitable::SharedPtr waitable_ptr, rclcpp::callback_group::CallbackGroup::SharedPtr group)=0
Pure virtual interface class for the NodeWaitables part of the Node API.
Definition: node_waitables_interface.hpp:29