#include <rmw/event.h>
#include "rcl/client.h"
#include "rcl/event_callback.h"
#include "rcl/macros.h"
#include "rcl/publisher.h"
#include "rcl/service.h"
#include "rcl/subscription.h"
#include "rcl/visibility_control.h"

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Classes
struct	rcl_event_s
	Structure which encapsulates a ROS QoS event handle. More...

Typedefs
typedef enum rcl_publisher_event_type_e	rcl_publisher_event_type_t
	Enumeration of all of the publisher events that may fire.

typedef enum rcl_subscription_event_type_e	rcl_subscription_event_type_t
	Enumeration of all of the subscription events that may fire.

typedef struct rcl_event_impl_s	rcl_event_impl_t
	Internal rcl implementation struct.

typedef struct rcl_event_s	rcl_event_t
	Structure which encapsulates a ROS QoS event handle.

Enumerations
enum	rcl_publisher_event_type_e { RCL_PUBLISHER_OFFERED_DEADLINE_MISSED , RCL_PUBLISHER_LIVELINESS_LOST , RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS , RCL_PUBLISHER_INCOMPATIBLE_TYPE , RCL_PUBLISHER_MATCHED }
	Enumeration of all of the publisher events that may fire.

enum	rcl_subscription_event_type_e { RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED , RCL_SUBSCRIPTION_LIVELINESS_CHANGED , RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS , RCL_SUBSCRIPTION_MESSAGE_LOST , RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE , RCL_SUBSCRIPTION_MATCHED }
	Enumeration of all of the subscription events that may fire.

Functions
RCL_PUBLIC RCL_WARN_UNUSED rcl_event_t	rcl_get_zero_initialized_event (void)
	Return a rcl_event_t struct with members set to `NULL`. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_publisher_event_init (rcl_event_t event, const rcl_publisher_t publisher, const rcl_publisher_event_type_t event_type)
	Initialize an rcl_event_t with a publisher. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_subscription_event_init (rcl_event_t event, const rcl_subscription_t subscription, const rcl_subscription_event_type_t event_type)
	Initialize an rcl_event_t with a subscription. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_take_event (const rcl_event_t event, void event_info)

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_event_fini (rcl_event_t *event)

RCL_PUBLIC RCL_WARN_UNUSED rmw_event_t *	rcl_event_get_rmw_handle (const rcl_event_t *event)
	Return the rmw event handle. More...

RCL_PUBLIC bool	rcl_event_is_valid (const rcl_event_t *event)
	Check that the event is valid. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_event_set_callback (const rcl_event_t event, rcl_event_callback_t callback, const void user_data)
	Set the callback function for the event. More...

Function Documentation

◆ rcl_event_fini()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_event_fini ( rcl_event_t * event )

Finalize an event.

Parameters

[in] event to finalize

Returns: RCL_RET_OK if successful, or; RCL_RET_EVENT_INVALID if event is null, or; RCL_RET_ERROR if an unexpected error occurs.

Definition at line 189 of file event.c.

References rcl_event_s::impl, RCL_RET_EVENT_INVALID, and RCL_RET_OK.

◆ rcl_event_get_rmw_handle()

RCL_PUBLIC RCL_WARN_UNUSED rmw_event_t* rcl_event_get_rmw_handle ( const rcl_event_t * event )

Return the rmw event handle.

The handle returned is a pointer to the internally held rmw handle. This function can fail, and therefore return NULL, if the:

event is NULL
event is invalid (never called init, called fini, or invalid node)

The returned handle is made invalid if the event is finalized or if rcl_shutdown() is called. The returned handle is not guaranteed to be valid for the life time of the event as it may be finalized and recreated itself. Therefore it is recommended to get the handle from the event using this function each time it is needed and avoid use of the handle concurrently with functions that might change it.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] event pointer to the rcl event

Returns: rmw event handle if successful, otherwise NULL

Definition at line 211 of file event.c.

References rcl_event_is_valid().

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◆ rcl_event_is_valid()

RCL_PUBLIC bool rcl_event_is_valid ( const rcl_event_t * event )

Check that the event is valid.

The bool returned is false if event is invalid. The bool returned is true otherwise. In the case where false is to be returned, an error message is set. This function cannot fail.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] event pointer to the rcl event

Returns: true if event is valid, otherwise false

Definition at line 221 of file event.c.

References rcl_event_s::impl.

Referenced by rcl_event_get_rmw_handle(), rcl_event_set_callback(), and rcl_take_event().

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◆ rcl_event_set_callback()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_event_set_callback	(	const rcl_event_t *	event,
		rcl_event_callback_t	callback,
		const void *	user_data
	)

Set the callback function for the event.

This API sets the callback function to be called whenever the event is notified about a new instance of the event.

See also: rmw_event_set_callback for more details about this function.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	Maybe [1]
Lock-Free	Maybe [1]

[1] rmw implementation defined

Parameters

[in]	event	The event on which to set the callback
[in]	callback	The callback to be called when new events occur, may be NULL
[in]	user_data	Given to the callback when called later, may be NULL

Returns: RCL_RET_OK if callback was set to the listener, or; RCL_RET_INVALID_ARGUMENT if event is NULL, or; RCL_RET_UNSUPPORTED if the API is not implemented in the dds implementation

Definition at line 235 of file event.c.

References rcl_event_s::impl, rcl_event_is_valid(), and RCL_RET_INVALID_ARGUMENT.

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◆ rcl_get_zero_initialized_event()

RCL_PUBLIC RCL_WARN_UNUSED rcl_event_t rcl_get_zero_initialized_event ( void )

Return a rcl_event_t struct with members set to NULL.

Should be called to get a null rcl_event_t before passing to rcl_event_init().

Returns: Zero initialized rcl_event_t.

Definition at line 39 of file event.c.

◆ rcl_publisher_event_init()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_publisher_event_init	(	rcl_event_t *	event,
		const rcl_publisher_t *	publisher,
		const rcl_publisher_event_type_t	event_type
	)

Initialize an rcl_event_t with a publisher.

Fill the rcl_event_t with the publisher and desired event_type.

Parameters

[in,out]	event	pointer to fill
[in]	publisher	to get events from
[in]	event_type	to listen for

Returns: RCL_RET_OK if the rcl_event_t is filled, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory fails, or; RCL_RET_UNSUPPORTED if event_type is not supported, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 47 of file event.c.

References rcl_publisher_options_s::allocator, rcl_publisher_s::impl, RCL_CHECK_ALLOCATOR_WITH_MSG, RCL_RET_EVENT_INVALID, and RCL_RET_INVALID_ARGUMENT.

◆ rcl_subscription_event_init()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_subscription_event_init	(	rcl_event_t *	event,
		const rcl_subscription_t *	subscription,
		const rcl_subscription_event_type_t	event_type
	)

Initialize an rcl_event_t with a subscription.

Fill the rcl_event_t with the subscription and desired event_type.

Parameters

[in,out]	event	pointer to fill
[in]	subscription	to get events from
[in]	event_type	to listen for

Returns: RCL_RET_OK if the rcl_event_t is filled, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory fails, or; RCL_RET_UNSUPPORTED if event_type is not supported, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 104 of file event.c.

References rcl_subscription_options_s::allocator, rcl_subscription_s::impl, RCL_CHECK_ALLOCATOR_WITH_MSG, RCL_RET_EVENT_INVALID, and RCL_RET_INVALID_ARGUMENT.

◆ rcl_take_event()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_take_event	(	const rcl_event_t *	event,
		void *	event_info
	)

Take an event from the event handle.

Parameters

[in]	event	event object to take from
[in,out]	event_info	event info object to write taken data into

Returns: RCL_RET_OK if successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_BAD_ALLOC if memory allocation failed, or; RCL_RET_EVENT_TAKE_FAILED if the take event failed, or; RCL_RET_ERROR if an unexpected error occurs.

Definition at line 164 of file event.c.

References rcl_event_s::impl, rcl_event_is_valid(), RCL_RET_EVENT_INVALID, RCL_RET_EVENT_TAKE_FAILED, and RCL_RET_INVALID_ARGUMENT.

Referenced by rclcpp::EventHandler< EventCallbackT, ParentHandleT >::take_data().

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Classes

Typedefs

Enumerations

Functions

Function Documentation

◆ rcl_event_fini()

◆ rcl_event_get_rmw_handle()

◆ rcl_event_is_valid()

◆ rcl_event_set_callback()

◆ rcl_get_zero_initialized_event()

◆ rcl_publisher_event_init()

◆ rcl_subscription_event_init()

◆ rcl_take_event()