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C++ ROS Client Library API
memory_strategy.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__MEMORY_STRATEGY_HPP_
16 #define RCLCPP__MEMORY_STRATEGY_HPP_
17 
18 #include <list>
19 #include <memory>
20 
21 #include "rcl/allocator.h"
22 #include "rcl/wait.h"
23 
25 #include "rclcpp/macros.hpp"
28 #include "rclcpp/waitable.hpp"
29 
30 namespace rclcpp
31 {
32 namespace memory_strategy
33 {
34 
36 
42 {
43 public:
45  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
46 
47  virtual ~MemoryStrategy() = default;
48 
49  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
50 
51  virtual size_t number_of_ready_subscriptions() const = 0;
52  virtual size_t number_of_ready_services() const = 0;
53  virtual size_t number_of_ready_clients() const = 0;
54  virtual size_t number_of_ready_events() const = 0;
55  virtual size_t number_of_ready_timers() const = 0;
56  virtual size_t number_of_guard_conditions() const = 0;
57  virtual size_t number_of_waitables() const = 0;
58 
59  virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
60  virtual void clear_handles() = 0;
61  virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
62 
63  virtual void add_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
64 
65  virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
66 
67  virtual void
68  get_next_subscription(
69  rclcpp::executor::AnyExecutable & any_exec,
70  const WeakNodeList & weak_nodes) = 0;
71 
72  virtual void
73  get_next_service(
74  rclcpp::executor::AnyExecutable & any_exec,
75  const WeakNodeList & weak_nodes) = 0;
76 
77  virtual void
78  get_next_client(
79  rclcpp::executor::AnyExecutable & any_exec,
80  const WeakNodeList & weak_nodes) = 0;
81 
82  virtual void
83  get_next_timer(
84  rclcpp::executor::AnyExecutable & any_exec,
85  const WeakNodeList & weak_nodes) = 0;
86 
87  virtual void
88  get_next_waitable(
89  rclcpp::executor::AnyExecutable & any_exec,
90  const WeakNodeList & weak_nodes) = 0;
91 
92  virtual rcl_allocator_t
93  get_allocator() = 0;
94 
95  static rclcpp::SubscriptionBase::SharedPtr
96  get_subscription_by_handle(
97  std::shared_ptr<const rcl_subscription_t> subscriber_handle,
98  const WeakNodeList & weak_nodes);
99 
100  static rclcpp::ServiceBase::SharedPtr
101  get_service_by_handle(
102  std::shared_ptr<const rcl_service_t> service_handle,
103  const WeakNodeList & weak_nodes);
104 
105  static rclcpp::ClientBase::SharedPtr
106  get_client_by_handle(
107  std::shared_ptr<const rcl_client_t> client_handle,
108  const WeakNodeList & weak_nodes);
109 
110  static rclcpp::TimerBase::SharedPtr
111  get_timer_by_handle(
112  std::shared_ptr<const rcl_timer_t> timer_handle,
113  const WeakNodeList & weak_nodes);
114 
115  static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
116  get_node_by_group(
117  rclcpp::callback_group::CallbackGroup::SharedPtr group,
118  const WeakNodeList & weak_nodes);
119 
120  static rclcpp::callback_group::CallbackGroup::SharedPtr
121  get_group_by_subscription(
122  rclcpp::SubscriptionBase::SharedPtr subscription,
123  const WeakNodeList & weak_nodes);
124 
125  static rclcpp::callback_group::CallbackGroup::SharedPtr
126  get_group_by_service(
127  rclcpp::ServiceBase::SharedPtr service,
128  const WeakNodeList & weak_nodes);
129 
130  static rclcpp::callback_group::CallbackGroup::SharedPtr
131  get_group_by_client(
132  rclcpp::ClientBase::SharedPtr client,
133  const WeakNodeList & weak_nodes);
134 
135  static rclcpp::callback_group::CallbackGroup::SharedPtr
136  get_group_by_timer(
137  rclcpp::TimerBase::SharedPtr timer,
138  const WeakNodeList & weak_nodes);
139 
140  static rclcpp::callback_group::CallbackGroup::SharedPtr
141  get_group_by_waitable(
142  rclcpp::Waitable::SharedPtr waitable,
143  const WeakNodeList & weak_nodes);
144 };
145 
146 } // namespace memory_strategy
147 } // namespace rclcpp
148 
149 #endif // RCLCPP__MEMORY_STRATEGY_HPP_
Definition: client.hpp:52
Delegate for handling memory allocations while the Executor is executing.
Definition: memory_strategy.hpp:41
This header provides the get_node_base_interface() template function.
Definition: allocator_common.hpp:24
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: macros.hpp:51
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Definition: subscription_base.hpp:54
Definition: waitable.hpp:26
Definition: service.hpp:41
Definition: timer.hpp:45