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callback_group.hpp
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171 lines (141 loc) · 4.56 KB
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// Copyright 2014 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__CALLBACK_GROUP_HPP_
#define RCLCPP__CALLBACK_GROUP_HPP_
#include <atomic>
#include <mutex>
#include <string>
#include <vector>
#include "rclcpp/client.hpp"
#include "rclcpp/publisher_base.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription_base.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/waitable.hpp"
namespace rclcpp
{
// Forward declarations for friend statement in class CallbackGroup
namespace node_interfaces
{
class NodeServices;
class NodeTimers;
class NodeTopics;
class NodeWaitables;
} // namespace node_interfaces
enum class CallbackGroupType
{
MutuallyExclusive,
Reentrant
};
class CallbackGroup
{
friend class rclcpp::node_interfaces::NodeServices;
friend class rclcpp::node_interfaces::NodeTimers;
friend class rclcpp::node_interfaces::NodeTopics;
friend class rclcpp::node_interfaces::NodeWaitables;
public:
RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
RCLCPP_PUBLIC
explicit CallbackGroup(CallbackGroupType group_type);
template<typename Function>
rclcpp::SubscriptionBase::SharedPtr
find_subscription_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
}
template<typename Function>
rclcpp::TimerBase::SharedPtr
find_timer_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
}
template<typename Function>
rclcpp::ServiceBase::SharedPtr
find_service_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
}
template<typename Function>
rclcpp::ClientBase::SharedPtr
find_client_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
}
template<typename Function>
rclcpp::Waitable::SharedPtr
find_waitable_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
}
RCLCPP_PUBLIC
std::atomic_bool &
can_be_taken_from();
RCLCPP_PUBLIC
const CallbackGroupType &
type() const;
protected:
RCLCPP_DISABLE_COPY(CallbackGroup)
RCLCPP_PUBLIC
void
add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
RCLCPP_PUBLIC
void
add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
RCLCPP_PUBLIC
void
add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
RCLCPP_PUBLIC
void
add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
RCLCPP_PUBLIC
void
add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
RCLCPP_PUBLIC
void
add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr);
RCLCPP_PUBLIC
void
remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept;
CallbackGroupType type_;
// Mutex to protect the subsequent vectors of pointers.
mutable std::mutex mutex_;
std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
std::atomic_bool can_be_taken_from_;
private:
template<typename TypeT, typename Function>
typename TypeT::SharedPtr _find_ptrs_if_impl(
Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
{
std::lock_guard<std::mutex> lock(mutex_);
for (auto & weak_ptr : vect_ptrs) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr && func(ref_ptr)) {
return ref_ptr;
}
}
return typename TypeT::SharedPtr();
}
};
namespace callback_group
{
using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
} // namespace callback_group
} // namespace rclcpp
#endif // RCLCPP__CALLBACK_GROUP_HPP_