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guard_condition.cpp
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80 lines (70 loc) · 2.21 KB
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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.
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/logging.hpp"
namespace rclcpp
{
GuardCondition::GuardCondition(rclcpp::Context::SharedPtr context)
: context_(context), rcl_guard_condition_{rcl_get_zero_initialized_guard_condition()}
{
if (!context_) {
throw std::invalid_argument("context argument unexpectedly nullptr");
}
rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
rcl_ret_t ret = rcl_guard_condition_init(
&this->rcl_guard_condition_,
context_->get_rcl_context().get(),
guard_condition_options);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
GuardCondition::~GuardCondition()
{
rcl_ret_t ret = rcl_guard_condition_fini(&this->rcl_guard_condition_);
if (RCL_RET_OK != ret) {
try {
rclcpp::exceptions::throw_from_rcl_error(ret);
} catch (const std::exception & exception) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"Error in destruction of rcl guard condition: %s", exception.what());
}
}
}
rclcpp::Context::SharedPtr
GuardCondition::get_context() const
{
return context_;
}
const rcl_guard_condition_t &
GuardCondition::get_rcl_guard_condition() const
{
return rcl_guard_condition_;
}
void
GuardCondition::trigger()
{
rcl_ret_t ret = rcl_trigger_guard_condition(&rcl_guard_condition_);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
bool
GuardCondition::exchange_in_use_by_wait_set_state(bool in_use_state)
{
return in_use_by_wait_set_.exchange(in_use_state);
}
} // namespace rclcpp