wait.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__WAIT_H_
#define RCL__WAIT_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdbool.h>
#include <stddef.h>

#include "rcl/client.h"
#include "rcl/guard_condition.h"
#include "rcl/macros.h"
#include "rcl/service.h"
#include "rcl/subscription.h"
#include "rcl/timer.h"
#include "rcl/event.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

struct rcl_wait_set_impl_t;

typedef struct rcl_wait_set_t
{
  const rcl_subscription_t ** subscriptions;
  size_t size_of_subscriptions;
  const rcl_guard_condition_t ** guard_conditions;
  size_t size_of_guard_conditions;
  const rcl_timer_t ** timers;
  size_t size_of_timers;
  const rcl_client_t ** clients;
  size_t size_of_clients;
  const rcl_service_t ** services;
  size_t size_of_services;
  const rcl_event_t ** events;
  size_t size_of_events;
  struct rcl_wait_set_impl_t * impl;
} rcl_wait_set_t;

RCL_PUBLIC
RCL_WARN_UNUSED
rcl_wait_set_t
rcl_get_zero_initialized_wait_set(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_init(
  rcl_wait_set_t * wait_set,
  size_t number_of_subscriptions,
  size_t number_of_guard_conditions,
  size_t number_of_timers,
  size_t number_of_clients,
  size_t number_of_services,
  size_t number_of_events,
  rcl_context_t * context,
  rcl_allocator_t allocator);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_fini(rcl_wait_set_t * wait_set);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * allocator);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_subscription(
  rcl_wait_set_t * wait_set,
  const rcl_subscription_t * subscription,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_clear(rcl_wait_set_t * wait_set);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_resize(
  rcl_wait_set_t * wait_set,
  size_t subscriptions_size,
  size_t guard_conditions_size,
  size_t timers_size,
  size_t clients_size,
  size_t services_size,
  size_t events_size);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_guard_condition(
  rcl_wait_set_t * wait_set,
  const rcl_guard_condition_t * guard_condition,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_timer(
  rcl_wait_set_t * wait_set,
  const rcl_timer_t * timer,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_client(
  rcl_wait_set_t * wait_set,
  const rcl_client_t * client,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_service(
  rcl_wait_set_t * wait_set,
  const rcl_service_t * service,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait_set_add_event(
  rcl_wait_set_t * wait_set,
  const rcl_event_t * event,
  size_t * index);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout);

#ifdef __cplusplus
}
#endif

#endif  // RCL__WAIT_H_