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subscription_intra_process_base.cpp
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38 lines (32 loc) · 1.16 KB
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// Copyright 2019 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.
#include "rclcpp/experimental/subscription_intra_process_base.hpp"
using rclcpp::experimental::SubscriptionIntraProcessBase;
bool
SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t * wait_set)
{
std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL);
return RCL_RET_OK == ret;
}
const char *
SubscriptionIntraProcessBase::get_topic_name() const
{
return topic_name_.c_str();
}
rclcpp::QoS
SubscriptionIntraProcessBase::get_actual_qos() const
{
return qos_profile_;
}