rmw_gid_t gid
Global ID of the Participant that the Context uses.
Definition: context.hpp:35
rmw_guard_condition_t * graph_guard_condition
Guard condition that should be triggered when the graph changes.
Definition: context.hpp:51
Definition: context.hpp:32
GraphCache graph_cache
Cached graph from discovery data.
Definition: context.hpp:41
std::atomic_bool thread_is_running
Indicates if the listener thread is running.
Definition: context.hpp:47
rmw_guard_condition_t * listener_thread_gc
Awakes listener thread when finishing the context.
Definition: context.hpp:49
std::thread listener_thread
Thread to listen to discovery data.
Definition: context.hpp:45
std::mutex node_update_mutex
Mutex that should be locked when updating graph cache and publishing a graph message.
Definition: context.hpp:43
rmw_subscription_t * sub
Subscriber used to listen to ParticipantEntitiesInfo discovery data.
Definition: context.hpp:39
rmw_publisher_t * pub
Publisher used to publish ParticipantEntitiesInfo discovery data.
Definition: context.hpp:37