rclcpp::Waitable Class Reference

#include <waitable.hpp>

Public Member Functions
virtual size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...
virtual size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...
virtual size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...
virtual size_t	get_number_of_ready_services ()
	Get the number of ready services. More...
virtual size_t	get_number_of_ready_guard_conditions ()
	Get the number of ready guard_conditions. More...
virtual bool	add_to_wait_set (rcl_wait_set_t *wait_set)=0
	Add the Waitable to a wait set. More...
virtual bool	is_ready (rcl_wait_set_t *)=0
	Check if the Waitable is ready. More...
virtual void	execute ()=0
	Execute any entities of the Waitable that are ready. More...

Member Function Documentation

get_number_of_ready_subscriptions()

virtual size_t rclcpp::Waitable::get_number_of_ready_subscriptions ( )

virtual

Get the number of ready subscriptions.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more subscriptions.

Returns

The number of subscriptions associated with the Waitable.

get_number_of_ready_timers()

virtual size_t rclcpp::Waitable::get_number_of_ready_timers ( )

virtual

Get the number of ready timers.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more timers.

Returns

The number of timers associated with the Waitable.

get_number_of_ready_clients()

virtual size_t rclcpp::Waitable::get_number_of_ready_clients ( )

virtual

Get the number of ready clients.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more clients.

Returns

The number of clients associated with the Waitable.

get_number_of_ready_services()

virtual size_t rclcpp::Waitable::get_number_of_ready_services ( )

virtual

Get the number of ready services.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more services.

Returns

The number of services associated with the Waitable.

get_number_of_ready_guard_conditions()

virtual size_t rclcpp::Waitable::get_number_of_ready_guard_conditions ( )

virtual

Get the number of ready guard_conditions.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more guard_conditions.

Returns

The number of guard_conditions associated with the Waitable.

add_to_wait_set()

virtual bool rclcpp::Waitable::add_to_wait_set ( rcl_wait_set_t *  wait_set )

pure virtual

Add the Waitable to a wait set.

Parameters

[in]

wait_set

A handle to the wait set to add the Waitable to.

Returns

true if the Waitable is added successfully, false otherwise.

is_ready()

virtual bool rclcpp::Waitable::is_ready ( rcl_wait_set_t *  )

pure virtual

Check if the Waitable is ready.

The input wait set should be the same that was used in a previously call to add_to_wait_set(). The wait set should also have been previously waited on with rcl_wait().

Parameters

[in]

wait_set

A handle to the wait set the Waitable was previously added to and that has been waited on.

Returns

true if the Waitable is ready, false otherwise.

execute()

virtual void rclcpp::Waitable::execute ( )

pure virtual

Execute any entities of the Waitable that are ready.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
bool add_ret = waitable.add_to_wait_set(wait_set);
// ... error handling
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
waitable.execute();

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The documentation for this class was generated from the following file:

• include/rclcpp/waitable.hpp