rclcpp
master
C++ ROS Client Library API
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#include <waitable.hpp>
Public Member Functions | |
virtual | ~Waitable ()=default |
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_events () |
Get the number of ready events. 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 *wait_set)=0 |
Check if the Waitable is ready. More... | |
virtual std::shared_ptr< void > | take_data ()=0 |
Take the data so that it can be consumed with execute . More... | |
virtual void | execute (std::shared_ptr< void > &data)=0 |
Execute data that is passed in. More... | |
bool | exchange_in_use_by_wait_set_state (bool in_use_state) |
Exchange the "in use by wait set" state for this timer. More... | |
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Get the number of ready events.
Returns a value of 0 by default. This should be overridden if the Waitable contains one or more events.
Reimplemented in rclcpp::QOSEventHandlerBase.
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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.
Reimplemented in rclcpp::executors::StaticExecutorEntitiesCollector, and rclcpp::experimental::SubscriptionIntraProcessBase.
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pure virtual |
Add the Waitable to a wait set.
[in] | wait_set | A handle to the wait set to add the Waitable to. |
true
if the Waitable is added successfully, false
otherwise. rclcpp::execptions::RCLError | from rcl_wait_set_add_*() |
Implemented in rclcpp::executors::StaticExecutorEntitiesCollector, rclcpp::QOSEventHandlerBase, and rclcpp::experimental::SubscriptionIntraProcessBase.
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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()
.
[in] | wait_set | A handle to the wait set the Waitable was previously added to and that has been waited on. |
true
if the Waitable is ready, false
otherwise. Implemented in rclcpp::experimental::SubscriptionIntraProcessBase, rclcpp::executors::StaticExecutorEntitiesCollector, rclcpp::QOSEventHandlerBase, and rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.
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pure virtual |
Take the data so that it can be consumed with execute
.
NOTE: take_data is a partial fix to a larger design issue with the multithreaded executor. This method is likely to be removed when a more permanent fix is implemented. A longterm fix is currently being discussed here: https://github.com/ros2/rclcpp/pull/1276
This method takes the data from the underlying data structure and writes it to the void shared pointer data
that is passed into the method. The data
can then be executed with the execute
method.
Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.
Example usage:
Implemented in rclcpp::experimental::SubscriptionIntraProcessBase, rclcpp::QOSEventHandler< EventCallbackT, ParentHandleT >, rclcpp::executors::StaticExecutorEntitiesCollector, and rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.
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pure virtual |
Execute data that is passed in.
Before calling this method, the Waitable should be added to a wait set, waited on, and then updated - and the take_data
method should be called.
Example usage:
Implemented in rclcpp::experimental::SubscriptionIntraProcessBase, rclcpp::QOSEventHandler< EventCallbackT, ParentHandleT >, rclcpp::executors::StaticExecutorEntitiesCollector, and rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.
bool rclcpp::Waitable::exchange_in_use_by_wait_set_state | ( | bool | in_use_state | ) |
Exchange the "in use by wait set" state for this timer.
This is used to ensure this timer is not used by multiple wait sets at the same time.
[in] | in_use_state | the new state to exchange into the state, true indicates it is now in use by a wait set, and false is that it is no longer in use by a wait set. |