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WIP support Deadline, Lifespan, Liveliness QoS Policy types and event…
… callbacks in Fast-RTPS 1.8 Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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Emerson Knapp
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May 8, 2019
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rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_event_info.hpp
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// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
// | ||
// 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 RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_ | ||
#define RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_ | ||
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#include <atomic> | ||
#include <condition_variable> | ||
#include <list> | ||
#include <memory> | ||
#include <mutex> | ||
#include <utility> | ||
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#include "fastcdr/FastBuffer.h" | ||
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#include "fastrtps/subscriber/SampleInfo.h" | ||
#include "fastrtps/subscriber/Subscriber.h" | ||
#include "fastrtps/subscriber/SubscriberListener.h" | ||
#include "fastrtps/participant/Participant.h" | ||
#include "fastrtps/publisher/Publisher.h" | ||
#include "fastrtps/publisher/PublisherListener.h" | ||
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#include "rmw/event.h" | ||
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#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp" | ||
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class EventListenerInterface | ||
{ | ||
public: | ||
/// Connect a condition variable so a waiter can be notified of new data. | ||
virtual void attachCondition( | ||
std::mutex * conditionMutex, | ||
std::condition_variable * conditionVariable) = 0; | ||
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/// Unset the information from attachCondition. | ||
virtual void detachCondition() = 0; | ||
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/// Check if there is new data available for a specific event type. | ||
/** | ||
* \param event_type The event type to check on. | ||
* \return `true` if new data is available. | ||
*/ | ||
virtual bool hasEvent(rmw_event_type_t event_type) const = 0; | ||
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/// Take ready data for an event type. | ||
/** | ||
* \param event_type The event type to get data for. | ||
* \param event_data A preallocated event information (from rmw/types.h) to fill with data | ||
* \return `true` if data was successfully taken. | ||
* \return `false` if data was not available, in this case nothing was written to event_data. | ||
*/ | ||
virtual bool takeNextEvent(rmw_event_type_t event_type, void * event_data) = 0; | ||
}; | ||
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typedef struct CustomEventInfo | ||
{ | ||
virtual EventListenerInterface * getListener() = 0; | ||
} CustomEventInfo; | ||
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#endif // RMW_FASTRTPS_SHARED_CPP__CUSTOM_EVENT_INFO_HPP_ |
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