rclcpp  master
C++ ROS Client Library API
any_executable.hpp
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1 // Copyright 2015 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__ANY_EXECUTABLE_HPP_
16 #define RCLCPP__ANY_EXECUTABLE_HPP_
17 
18 #include <memory>
19 
21 #include "rclcpp/client.hpp"
22 #include "rclcpp/macros.hpp"
24 #include "rclcpp/service.hpp"
25 #include "rclcpp/subscription.hpp"
26 #include "rclcpp/timer.hpp"
28 
29 namespace rclcpp
30 {
31 namespace executor
32 {
33 
35 {
37 
39  AnyExecutable();
40 
42  virtual ~AnyExecutable();
43 
44  // Only one of the following pointers will be set.
45  rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
46  rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process;
47  rclcpp::timer::TimerBase::SharedPtr timer;
48  rclcpp::service::ServiceBase::SharedPtr service;
49  rclcpp::client::ClientBase::SharedPtr client;
50  // These are used to keep the scope on the containing items
51  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
52  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
53 };
54 
55 } // namespace executor
56 } // namespace rclcpp
57 
58 #endif // RCLCPP__ANY_EXECUTABLE_HPP_
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base
Definition: any_executable.hpp:52
Definition: any_executable.hpp:34
Definition: allocator_common.hpp:24
rclcpp::subscription::SubscriptionBase::SharedPtr subscription
Definition: any_executable.hpp:45
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
rclcpp::client::ClientBase::SharedPtr client
Definition: any_executable.hpp:49
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group
Definition: any_executable.hpp:51
rclcpp::timer::TimerBase::SharedPtr timer
Definition: any_executable.hpp:47
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process
Definition: any_executable.hpp:46
rclcpp::service::ServiceBase::SharedPtr service
Definition: any_executable.hpp:48