executor_notify_waitable.hpp

// Copyright 2023 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__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
#define RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
 
#include <functional>
#include <memory>
#include <mutex>
#include <set>
#include <vector>
 
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/waitable.hpp"
 
namespace rclcpp
{
namespace executors
{
 
class ExecutorNotifyWaitable : public rclcpp::Waitable
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ExecutorNotifyWaitable)
 
  // Constructor
  RCLCPP_PUBLIC
  explicit ExecutorNotifyWaitable(
    std::function<void(void)> on_execute_callback = {}, const rclcpp::Context::SharedPtr & context =
    rclcpp::contexts::get_global_default_context());
 
  // Destructor
  RCLCPP_PUBLIC
  ~ExecutorNotifyWaitable() override = default;
 
  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;
 
 
  RCLCPP_PUBLIC
  bool
  is_ready(const rcl_wait_set_t & wait_set) override;
 
 
  RCLCPP_PUBLIC
  void
  execute(const std::shared_ptr<void> & data) override;
 
 
  RCLCPP_PUBLIC
  std::shared_ptr<void>
  take_data() override;
 
 
  RCLCPP_PUBLIC
  std::shared_ptr<void>
  take_data_by_entity_id(size_t id) override;
 
 
  RCLCPP_PUBLIC
  void
  set_on_ready_callback(std::function<void(size_t, int)> callback) override;
 
 
  RCLCPP_PUBLIC
  void
  add_guard_condition(rclcpp::GuardCondition::WeakPtr guard_condition);
 
 
  RCLCPP_PUBLIC
  void
  clear_on_ready_callback() override;
 
 
  RCLCPP_PUBLIC
  void
  set_execute_callback(std::function<void(void)> on_execute_callback);
 
 
  RCLCPP_PUBLIC
  void
  remove_guard_condition(rclcpp::GuardCondition::WeakPtr weak_guard_condition);
 
 
  RCLCPP_PUBLIC
  size_t
  get_number_of_ready_guard_conditions() override;
 
 
  RCLCPP_PUBLIC
  std::vector<std::shared_ptr<rclcpp::TimerBase>>
  get_timers() const override;
 
private:
  std::function<void(void)> execute_callback_;
 
  std::mutex guard_condition_mutex_;
  std::mutex execute_mutex_;
 
  std::function<void(size_t)> on_ready_callback_;
 
  std::set<rclcpp::GuardCondition::SharedPtr> notify_guard_conditions_;
 
  std::vector<size_t> idxs_of_added_guard_condition_;
 
  bool needs_processing = false;
 
  rclcpp::GuardCondition::SharedPtr guard_condition_;
};
 
}  // namespace executors
}  // namespace rclcpp
 
#endif  // RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_