custom_event_info.hpp

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// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// 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 RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_
#define RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_
 
#include <atomic>
#include <condition_variable>
#include <list>
#include <memory>
#include <mutex>
#include <utility>
 
#include "fastcdr/FastBuffer.h"
 
#include "fastrtps/subscriber/SampleInfo.h"
#include "fastrtps/subscriber/Subscriber.h"
#include "fastrtps/subscriber/SubscriberListener.h"
#include "fastrtps/participant/Participant.h"
#include "fastrtps/publisher/Publisher.h"
#include "fastrtps/publisher/PublisherListener.h"
 
#include "rmw/event.h"
 
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 
class EventListenerInterface
{
protected:
  class ConditionalScopedLock;
 
public:
  virtual void attachCondition(
    std::mutex * conditionMutex,
    std::condition_variable * conditionVariable) = 0;
 
  virtual void detachCondition() = 0;
 
 
  virtual bool hasEvent(rmw_event_type_t event_type) const = 0;
 
 
  virtual bool takeNextEvent(rmw_event_type_t event_type, void * event_info) = 0;
};
 
class EventListenerInterface::ConditionalScopedLock
{
public:
  ConditionalScopedLock(
    std::mutex * mutex,
    std::condition_variable * condition_variable = nullptr)
  : mutex_(mutex), cv_(condition_variable)
  {
    if (nullptr != mutex_) {
      mutex_->lock();
    }
  }
 
  ~ConditionalScopedLock()
  {
    if (nullptr != mutex_) {
      mutex_->unlock();
      if (nullptr != cv_) {
        cv_->notify_all();
      }
    }
  }
 
private:
  std::mutex * mutex_;
  std::condition_variable * cv_;
};
 
struct CustomEventInfo
{
  virtual EventListenerInterface * getListener() const = 0;
};
 
#endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_