rclcpp
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C++ ROS Client Library API
include
rclcpp
wait_set.hpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__WAIT_SET_HPP_
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#define RCLCPP__WAIT_SET_HPP_
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#include <memory>
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#include "rcl/wait.h"
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#include "
rclcpp/guard_condition.hpp
"
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#include "
rclcpp/macros.hpp
"
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#include "
rclcpp/visibility_control.hpp
"
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#include "
rclcpp/wait_set_policies/dynamic_storage.hpp
"
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#include "
rclcpp/wait_set_policies/sequential_synchronization.hpp
"
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#include "
rclcpp/wait_set_policies/static_storage.hpp
"
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#include "
rclcpp/wait_set_policies/thread_safe_synchronization.hpp
"
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#include "
rclcpp/wait_set_template.hpp
"
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namespace
rclcpp
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{
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using
WaitSet
=
rclcpp::WaitSetTemplate
<
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rclcpp::wait_set_policies::SequentialSynchronization
,
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rclcpp::wait_set_policies::DynamicStorage
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>;
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template
<
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std::size_t
NumberOfSubscriptions,
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std::size_t
NumberOfGuardCondtions,
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std::size_t
NumberOfTimers,
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std::size_t
NumberOfClients,
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std::size_t
NumberOfServices,
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std::size_t
NumberOfWaitables
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>
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using
StaticWaitSet
=
rclcpp::WaitSetTemplate
<
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rclcpp::wait_set_policies::SequentialSynchronization
,
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rclcpp::wait_set_policies::StaticStorage
<
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NumberOfSubscriptions,
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NumberOfGuardCondtions,
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NumberOfTimers,
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NumberOfClients,
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NumberOfServices,
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NumberOfWaitables
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>
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>;
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using
ThreadSafeWaitSet
=
rclcpp::WaitSetTemplate
<
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rclcpp::wait_set_policies::ThreadSafeSynchronization
,
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rclcpp::wait_set_policies::DynamicStorage
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>;
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}
// namespace rclcpp
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#endif // RCLCPP__WAIT_SET_HPP_
thread_safe_synchronization.hpp
rclcpp::wait_set_policies::SequentialSynchronization
WaitSet policy that explicitly provides no thread synchronization.
Definition:
sequential_synchronization.hpp:43
rclcpp::WaitSetTemplate
Encapsulates sets of waitable items which can be waited on as a group.
Definition:
wait_set_template.hpp:47
dynamic_storage.hpp
rclcpp::wait_set_policies::StaticStorage
WaitSet policy that explicitly provides fixed sized storage only.
Definition:
static_storage.hpp:51
rclcpp::wait_set_policies::DynamicStorage
WaitSet policy that provides dynamically sized storage.
Definition:
dynamic_storage.hpp:40
guard_condition.hpp
rclcpp
This header provides the get_node_base_interface() template function.
Definition:
allocator_common.hpp:24
wait_set_template.hpp
rclcpp::wait_set_policies::ThreadSafeSynchronization
WaitSet policy that provides thread-safe synchronization for the wait set.
Definition:
thread_safe_synchronization.hpp:67
macros.hpp
rclcpp::WaitSet
rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::SequentialSynchronization, rclcpp::wait_set_policies::DynamicStorage > WaitSet
Most common user configuration of a WaitSet, which is dynamic but not thread-safe.
Definition:
wait_set.hpp:48
sequential_synchronization.hpp
visibility_control.hpp
std::size_t
static_storage.hpp
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