subscription_intra_process_base.cpp

// Copyright 2019 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.
 
#include "rclcpp/experimental/subscription_intra_process_base.hpp"
#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
 
using rclcpp::experimental::SubscriptionIntraProcessBase;
 
void
SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t & wait_set)
{
  detail::add_guard_condition_to_rcl_wait_set(wait_set, gc_);
}
 
const char *
SubscriptionIntraProcessBase::get_topic_name() const
{
  return topic_name_.c_str();
}
 
rclcpp::QoS
SubscriptionIntraProcessBase::get_actual_qos() const
{
  return qos_profile_;
}
 
bool
SubscriptionIntraProcessBase::is_durability_transient_local() const
{
  return qos_profile_.durability() == rclcpp::DurabilityPolicy::TransientLocal;
}
 
void
SubscriptionIntraProcessBase::disable_callbacks()
{
  std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
  on_new_message_callback_disabled_ = true;
}
 
void
SubscriptionIntraProcessBase::enable_callbacks()
{
  std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
  on_new_message_callback_disabled_ = false;
}