#include <rclcpp/executors/executor_notify_waitable.hpp>

Inheritance diagram for rclcpp::executors::ExecutorNotifyWaitable:

Collaboration diagram for rclcpp::executors::ExecutorNotifyWaitable:

Public Member Functions
RCLCPP_PUBLIC	ExecutorNotifyWaitable (std::function< void(void)> on_execute_callback={}, const rclcpp::Context::SharedPtr &context=rclcpp::contexts::get_global_default_context())

RCLCPP_PUBLIC	ExecutorNotifyWaitable (ExecutorNotifyWaitable &other)

RCLCPP_PUBLIC ExecutorNotifyWaitable &	operator= (ExecutorNotifyWaitable &other)

RCLCPP_PUBLIC void	add_to_wait_set (rcl_wait_set_t &wait_set) override
	Add conditions to the wait set. More...

RCLCPP_PUBLIC bool	is_ready (const rcl_wait_set_t &wait_set) override
	Check conditions against the wait set. More...

RCLCPP_PUBLIC void	execute (const std::shared_ptr< void > &data) override
	Perform work associated with the waitable. More...

RCLCPP_PUBLIC std::shared_ptr< void >	take_data () override
	Retrieve data to be used in the next execute call. More...

RCLCPP_PUBLIC std::shared_ptr< void >	take_data_by_entity_id (size_t id) override
	Take the data from an entity ID so that it can be consumed with `execute`. More...

RCLCPP_PUBLIC void	set_on_ready_callback (std::function< void(size_t, int)> callback) override
	Set a callback to be called whenever the waitable becomes ready. More...

RCLCPP_PUBLIC void	add_guard_condition (rclcpp::GuardCondition::WeakPtr guard_condition)
	Add a guard condition to be waited on. More...

RCLCPP_PUBLIC void	clear_on_ready_callback () override
	Unset any callback registered via set_on_ready_callback. More...

RCLCPP_PUBLIC void	set_execute_callback (std::function< void(void)> on_execute_callback)
	Set a new callback to be called whenever this waitable is executed. More...

RCLCPP_PUBLIC void	remove_guard_condition (rclcpp::GuardCondition::WeakPtr weak_guard_condition)
	Remove a guard condition from being waited on. More...

RCLCPP_PUBLIC size_t	get_number_of_ready_guard_conditions () override
	Get the number of ready guard_conditions. More...

RCLCPP_PUBLIC std::vector< std::shared_ptr< rclcpp::TimerBase > >	get_timers () const override
	Returns the number of used Timers. More...

Public Member Functions inherited from rclcpp::Waitable
virtual RCLCPP_PUBLIC size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_events ()
	Get the number of ready events. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_services ()
	Get the number of ready services. More...

RCLCPP_PUBLIC bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...

Detailed Description

Maintain a collection of guard conditions from associated nodes and callback groups to signal to the executor when associated entities have changed.

Definition at line 34 of file executor_notify_waitable.hpp.

Constructor & Destructor Documentation

◆ ExecutorNotifyWaitable()

rclcpp::executors::ExecutorNotifyWaitable::ExecutorNotifyWaitable	(	std::function< void(void)>	on_execute_callback = `{}`,
		const rclcpp::Context::SharedPtr &	context = `rclcpp::contexts::get_global_default_context()`
	)

explicit

Parameters

[in] on_execute_callback Callback to execute when one of the conditions of this waitable has signaled the wait_set.

Definition at line 23 of file executor_notify_waitable.cpp.

Member Function Documentation

◆ add_guard_condition()

void rclcpp::executors::ExecutorNotifyWaitable::add_guard_condition ( rclcpp::GuardCondition::WeakPtr guard_condition )

Add a guard condition to be waited on.

Parameters

[in] guard_condition The guard condition to add.

Definition at line 186 of file executor_notify_waitable.cpp.

◆ add_to_wait_set()

void rclcpp::executors::ExecutorNotifyWaitable::add_to_wait_set ( rcl_wait_set_t & wait_set )

overridevirtual

Add conditions to the wait set.

Parameters

[in,out] wait_set structure that conditions will be added to

Implements rclcpp::Waitable.

Definition at line 55 of file executor_notify_waitable.cpp.

References RCL_RET_OK, and rcl_wait_set_add_guard_condition().

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◆ clear_on_ready_callback()

RCLCPP_PUBLIC void rclcpp::executors::ExecutorNotifyWaitable::clear_on_ready_callback ( )

overridevirtual

Unset any callback registered via set_on_ready_callback.

See also: rclcpp::Waitable::clear_on_ready_callback

Implements rclcpp::Waitable.

Definition at line 167 of file executor_notify_waitable.cpp.

◆ execute()

void rclcpp::executors::ExecutorNotifyWaitable::execute ( const std::shared_ptr< void > & data )

overridevirtual

Perform work associated with the waitable.

This will call the callback provided in the constructor.

Parameters

[in] data Data to be use for the execute, if available, else nullptr.

Implements rclcpp::Waitable.

Definition at line 125 of file executor_notify_waitable.cpp.

◆ get_number_of_ready_guard_conditions()

size_t rclcpp::executors::ExecutorNotifyWaitable::get_number_of_ready_guard_conditions ( )

overridevirtual

Get the number of ready guard_conditions.

Returns: The number of guard_conditions associated with the Waitable.

Reimplemented from rclcpp::Waitable.

Definition at line 219 of file executor_notify_waitable.cpp.

◆ get_timers()

std::vector< std::shared_ptr< rclcpp::TimerBase > > rclcpp::executors::ExecutorNotifyWaitable::get_timers ( ) const

overridevirtual

Returns the number of used Timers.

Will always return an empty vector.

Implements rclcpp::Waitable.

Definition at line 226 of file executor_notify_waitable.cpp.

◆ is_ready()

bool rclcpp::executors::ExecutorNotifyWaitable::is_ready ( const rcl_wait_set_t & wait_set )

overridevirtual

Check conditions against the wait set.

Parameters

[in,out] wait_set structure that internal elements will be checked against.

Returns: true if this waitable is ready to be executed, false otherwise.

Implements rclcpp::Waitable.

Definition at line 99 of file executor_notify_waitable.cpp.

References rcl_wait_set_s::guard_conditions, and rcl_wait_set_s::size_of_guard_conditions.

◆ remove_guard_condition()

void rclcpp::executors::ExecutorNotifyWaitable::remove_guard_condition ( rclcpp::GuardCondition::WeakPtr weak_guard_condition )

Remove a guard condition from being waited on.

Parameters

[in] weak_guard_condition The guard condition to remove.

Definition at line 199 of file executor_notify_waitable.cpp.

◆ set_execute_callback()

RCLCPP_PUBLIC void rclcpp::executors::ExecutorNotifyWaitable::set_execute_callback ( std::function< void(void)> on_execute_callback )

Set a new callback to be called whenever this waitable is executed.

Parameters

[in] on_execute_callback The new callback

Definition at line 179 of file executor_notify_waitable.cpp.

◆ set_on_ready_callback()

void rclcpp::executors::ExecutorNotifyWaitable::set_on_ready_callback ( std::function< void(size_t, int)> callback )

overridevirtual

Set a callback to be called whenever the waitable becomes ready.

Parameters

[in] callback callback to set

See also: rclcpp::Waitable::set_on_ready_callback

Implements rclcpp::Waitable.

Definition at line 147 of file executor_notify_waitable.cpp.

◆ take_data()

std::shared_ptr< void > rclcpp::executors::ExecutorNotifyWaitable::take_data ( )

overridevirtual

Retrieve data to be used in the next execute call.

Returns: If available, data to be used, otherwise nullptr

Implements rclcpp::Waitable.

Definition at line 135 of file executor_notify_waitable.cpp.

◆ take_data_by_entity_id()

std::shared_ptr< void > rclcpp::executors::ExecutorNotifyWaitable::take_data_by_entity_id ( size_t id )

overridevirtual

Take the data from an entity ID so that it can be consumed with execute.

Parameters

[in] id ID of the entity to take data from.

Returns: If available, data to be used, otherwise nullptr

See also: rclcpp::Waitable::take_data_by_entity_id

Implements rclcpp::Waitable.

Definition at line 141 of file executor_notify_waitable.cpp.

The documentation for this class was generated from the following files:

rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp
rclcpp/src/rclcpp/executors/executor_notify_waitable.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ExecutorNotifyWaitable()

Member Function Documentation

◆ add_guard_condition()

◆ add_to_wait_set()

◆ clear_on_ready_callback()

◆ execute()

◆ get_number_of_ready_guard_conditions()

◆ get_timers()

◆ is_ready()

◆ remove_guard_condition()

◆ set_execute_callback()

◆ set_on_ready_callback()

◆ take_data()

◆ take_data_by_entity_id()