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| // Copyright 2020 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. | ||
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| #ifndef RCLCPP__EXECUTORS__EVENT_WAITABLE_HPP_ | ||
| #define RCLCPP__EXECUTORS__EVENT_WAITABLE_HPP_ | ||
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| #include "rclcpp/waitable.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace executors | ||
| { | ||
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| /** | ||
| * @brief This class provides a wrapper around the waitable object, that is | ||
| * meant to be used with the EventsExecutor. | ||
| * The waitset related methods are stubbed out as they should not be called. | ||
| * Nodes who want to implement a custom EventWaitable, can derive from this class and override | ||
| * the execute function. | ||
| */ | ||
| class EventWaitable : public rclcpp::Waitable | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_DEFINITIONS(EventWaitable) | ||
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| // Constructor | ||
| RCLCPP_PUBLIC | ||
| EventWaitable() = default; | ||
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| // Destructor | ||
| RCLCPP_PUBLIC | ||
| virtual ~EventWaitable() = default; | ||
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| // Executing an EventWaitable is a no-op. | ||
| // Derive from this class to implement execute function. | ||
| RCLCPP_PUBLIC | ||
| virtual void | ||
| execute() = 0; | ||
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| // Stub API: not used by EventsExecutor | ||
| RCLCPP_PUBLIC | ||
| bool | ||
| is_ready(rcl_wait_set_t * wait_set) final | ||
| { | ||
| (void)wait_set; | ||
| throw std::runtime_error("EventWaitable can't be checked if it's ready"); | ||
| return false; | ||
| } | ||
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| // Stub API: not used by EventsExecutor | ||
| RCLCPP_PUBLIC | ||
| bool | ||
| add_to_wait_set(rcl_wait_set_t * wait_set) final | ||
| { | ||
| (void)wait_set; | ||
| throw std::runtime_error("EventWaitable can't be added to a wait_set"); | ||
| return false; | ||
| } | ||
| }; | ||
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| } // namespace executors | ||
| } // namespace rclcpp | ||
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| #endif // RCLCPP__EXECUTORS__EVENT_WAITABLE_HPP_ |
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90 changes: 90 additions & 0 deletions
90
rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,90 @@ | ||
| // Copyright 2020 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. | ||
|
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| #ifndef RCLCPP__EXECUTORS__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_ | ||
| #define RCLCPP__EXECUTORS__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_ | ||
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| #include <list> | ||
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| #include "rcl/guard_condition.h" | ||
| #include "rclcpp/executors/event_waitable.hpp" | ||
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| namespace rclcpp | ||
| { | ||
| namespace executors | ||
| { | ||
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| /** | ||
| * @brief This class provides an EventWaitable that allows to | ||
| * wake up an EventsExecutor when a guard condition is notified. | ||
| */ | ||
| class EventsExecutorNotifyWaitable final : public EventWaitable | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutorNotifyWaitable) | ||
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| // Constructor | ||
| RCLCPP_PUBLIC | ||
| EventsExecutorNotifyWaitable() = default; | ||
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| // Destructor | ||
| RCLCPP_PUBLIC | ||
| virtual ~EventsExecutorNotifyWaitable() | ||
| { | ||
| if (on_destruction_callback_) { | ||
| on_destruction_callback_(this); | ||
| } | ||
| } | ||
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| // The function is a no-op, since we only care of waking up the executor | ||
| RCLCPP_PUBLIC | ||
| void | ||
| execute() override | ||
| {} | ||
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| RCLCPP_PUBLIC | ||
| void | ||
| add_guard_condition(rcl_guard_condition_t * guard_condition) | ||
| { | ||
| notify_guard_conditions_.push_back(guard_condition); | ||
| } | ||
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| RCLCPP_PUBLIC | ||
| void | ||
| set_events_executor_callback( | ||
| const rclcpp::executors::EventsExecutor * executor, | ||
| ExecutorEventCallback executor_callback) const override | ||
| { | ||
| for (auto gc : notify_guard_conditions_) { | ||
| rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback( | ||
| executor, | ||
| executor_callback, | ||
| this, | ||
| gc, | ||
| false); | ||
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| if (RCL_RET_OK != ret) { | ||
| throw std::runtime_error("Couldn't set guard condition callback"); | ||
| } | ||
| } | ||
| } | ||
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| private: | ||
| std::list<rcl_guard_condition_t *> notify_guard_conditions_; | ||
| }; | ||
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| } // namespace executors | ||
| } // namespace rclcpp | ||
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| #endif // RCLCPP__EXECUTORS__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_ |
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