memory_strategy.hpp

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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 RCLCPP__MEMORY_STRATEGY_HPP_
#define RCLCPP__MEMORY_STRATEGY_HPP_
 
#include <list>
#include <map>
#include <memory>
 
#include "rcl/allocator.h"
#include "rcl/wait.h"
 
#include "rclcpp/any_executable.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/waitable.hpp"
 
namespace rclcpp
{
namespace memory_strategy
{
 
 
class RCLCPP_PUBLIC MemoryStrategy
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
  using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
 
  virtual ~MemoryStrategy() = default;
 
  virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual size_t number_of_ready_subscriptions() const = 0;
  virtual size_t number_of_ready_services() const = 0;
  virtual size_t number_of_ready_clients() const = 0;
  virtual size_t number_of_ready_events() const = 0;
  virtual size_t number_of_ready_timers() const = 0;
  virtual size_t number_of_guard_conditions() const = 0;
  virtual size_t number_of_waitables() const = 0;
 
  virtual void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) = 0;
  virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
  virtual void clear_handles() = 0;
  virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
 
  virtual void add_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
 
  virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
 
  virtual void
  get_next_subscription(
    rclcpp::AnyExecutable & any_exec,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual void
  get_next_service(
    rclcpp::AnyExecutable & any_exec,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual void
  get_next_client(
    rclcpp::AnyExecutable & any_exec,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual void
  get_next_timer(
    rclcpp::AnyExecutable & any_exec,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual void
  get_next_waitable(
    rclcpp::AnyExecutable & any_exec,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
 
  virtual rcl_allocator_t
  get_allocator() = 0;
 
  static rclcpp::SubscriptionBase::SharedPtr
  get_subscription_by_handle(
    std::shared_ptr<const rcl_subscription_t> subscriber_handle,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::ServiceBase::SharedPtr
  get_service_by_handle(
    std::shared_ptr<const rcl_service_t> service_handle,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::ClientBase::SharedPtr
  get_client_by_handle(
    std::shared_ptr<const rcl_client_t> client_handle,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::TimerBase::SharedPtr
  get_timer_by_handle(
    std::shared_ptr<const rcl_timer_t> timer_handle,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
  get_node_by_group(
    rclcpp::CallbackGroup::SharedPtr group,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::CallbackGroup::SharedPtr
  get_group_by_subscription(
    rclcpp::SubscriptionBase::SharedPtr subscription,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::CallbackGroup::SharedPtr
  get_group_by_service(
    rclcpp::ServiceBase::SharedPtr service,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::CallbackGroup::SharedPtr
  get_group_by_client(
    rclcpp::ClientBase::SharedPtr client,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::CallbackGroup::SharedPtr
  get_group_by_timer(
    rclcpp::TimerBase::SharedPtr timer,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
  static rclcpp::CallbackGroup::SharedPtr
  get_group_by_waitable(
    rclcpp::Waitable::SharedPtr waitable,
    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
};
 
}  // namespace memory_strategy
}  // namespace rclcpp
 
#endif  // RCLCPP__MEMORY_STRATEGY_HPP_