guard_condition.h

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// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCL__GUARD_CONDITION_H_
#define RCL__GUARD_CONDITION_H_

#if __cplusplus
extern "C"
{
#endif

#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

struct rcl_guard_condition_impl_t;

typedef struct rcl_guard_condition_t
{
  struct rcl_guard_condition_impl_t * impl;
} rcl_guard_condition_t;

typedef struct rcl_guard_condition_options_t
{
  rcl_allocator_t allocator;
} rcl_guard_condition_options_t;

RCL_PUBLIC
RCL_WARN_UNUSED
rcl_guard_condition_t
rcl_get_zero_initialized_guard_condition(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_guard_condition_init(
  rcl_guard_condition_t * guard_condition,
  const rcl_guard_condition_options_t options);


rcl_ret_t
rcl_guard_condition_init_from_rmw(
  rcl_guard_condition_t * guard_condition,
  const rmw_guard_condition_t * rmw_guard_condition,
  const rcl_guard_condition_options_t options);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_guard_condition_fini(rcl_guard_condition_t * guard_condition);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_guard_condition_options_t
rcl_guard_condition_get_default_options(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_trigger_guard_condition(rcl_guard_condition_t * guard_condition);


RCL_PUBLIC
RCL_WARN_UNUSED
rmw_guard_condition_t *
rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t * guard_condition);

#if __cplusplus
}
#endif

#endif  // RCL__GUARD_CONDITION_H_