waitable.hpp

// Copyright 2018 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__WAITABLE_HPP_
#define RCLCPP__WAITABLE_HPP_
 
#include <atomic>
#include <functional>
#include <memory>
#include <vector>
 
#include "rclcpp/macros.hpp"
#include "rclcpp/visibility_control.hpp"
 
#include "rcl/wait.h"
 
namespace rclcpp
{
 
class TimerBase;
 
class Waitable
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Waitable)
 
  RCLCPP_PUBLIC
  virtual ~Waitable() = default;
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_subscriptions();
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_timers();
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_clients();
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_events();
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_services();
 
 
  RCLCPP_PUBLIC
  virtual
  size_t
  get_number_of_ready_guard_conditions();
 
 
  RCLCPP_PUBLIC
  virtual
  void
  add_to_wait_set(rcl_wait_set_t & wait_set) = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  bool
  is_ready(const rcl_wait_set_t & wait_set) = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::shared_ptr<void>
  take_data() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::shared_ptr<void>
  take_data_by_entity_id(size_t id) = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  execute(const std::shared_ptr<void> & data) = 0;
 
 
  RCLCPP_PUBLIC
  bool
  exchange_in_use_by_wait_set_state(bool in_use_state);
 
 
  RCLCPP_PUBLIC
  virtual
  void
  set_on_ready_callback(std::function<void(size_t, int)> callback) = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  void
  clear_on_ready_callback() = 0;
 
 
  RCLCPP_PUBLIC
  virtual
  std::vector<std::shared_ptr<rclcpp::TimerBase>>
  get_timers() const = 0;
 
private:
  std::atomic<bool> in_use_by_wait_set_{false};
};  // class Waitable
 
}  // namespace rclcpp
 
#endif  // RCLCPP__WAITABLE_HPP_