wait_set.hpp

// Copyright 2020 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__WAIT_SET_HPP_
#define RCLCPP__WAIT_SET_HPP_
 
#include <memory>
 
#include "rcl/wait.h"
 
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/wait_set_policies/dynamic_storage.hpp"
#include "rclcpp/wait_set_policies/sequential_synchronization.hpp"
#include "rclcpp/wait_set_policies/static_storage.hpp"
#include "rclcpp/wait_set_policies/thread_safe_synchronization.hpp"
#include "rclcpp/wait_set_template.hpp"
 
namespace rclcpp
{
 
 
using WaitSet = rclcpp::WaitSetTemplate<
  rclcpp::wait_set_policies::SequentialSynchronization,
  rclcpp::wait_set_policies::DynamicStorage
>;
 
 
template<
  std::size_t NumberOfSubscriptions,
  std::size_t NumberOfGuardCondtions,
  std::size_t NumberOfTimers,
  std::size_t NumberOfClients,
  std::size_t NumberOfServices,
  std::size_t NumberOfWaitables
>
using StaticWaitSet = rclcpp::WaitSetTemplate<
  rclcpp::wait_set_policies::SequentialSynchronization,
  rclcpp::wait_set_policies::StaticStorage<
    NumberOfSubscriptions,
    NumberOfGuardCondtions,
    NumberOfTimers,
    NumberOfClients,
    NumberOfServices,
    NumberOfWaitables
  >
>;
 
 
using ThreadSafeWaitSet = rclcpp::WaitSetTemplate<
  rclcpp::wait_set_policies::ThreadSafeSynchronization,
  rclcpp::wait_set_policies::DynamicStorage
>;
 
}  // namespace rclcpp
 
#endif  // RCLCPP__WAIT_SET_HPP_