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memory_strategy.cpp
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230 lines (217 loc) · 6.58 KB
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// Copyright 2015 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/memory_strategy.hpp"
#include <memory>
using rclcpp::memory_strategy::MemoryStrategy;
rclcpp::SubscriptionBase::SharedPtr
MemoryStrategy::get_subscription_by_handle(
const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
if (!group) {
continue;
}
auto match_subscription = group->find_subscription_ptrs_if(
[&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
return subscription->get_subscription_handle() == subscriber_handle;
});
if (match_subscription) {
return match_subscription;
}
}
return nullptr;
}
rclcpp::ServiceBase::SharedPtr
MemoryStrategy::get_service_by_handle(
const std::shared_ptr<const rcl_service_t> & service_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
if (!group) {
continue;
}
auto service_ref = group->find_service_ptrs_if(
[&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
return service->get_service_handle() == service_handle;
});
if (service_ref) {
return service_ref;
}
}
return nullptr;
}
rclcpp::ClientBase::SharedPtr
MemoryStrategy::get_client_by_handle(
const std::shared_ptr<const rcl_client_t> & client_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
if (!group) {
continue;
}
auto client_ref = group->find_client_ptrs_if(
[&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
return client->get_client_handle() == client_handle;
});
if (client_ref) {
return client_ref;
}
}
return nullptr;
}
rclcpp::TimerBase::SharedPtr
MemoryStrategy::get_timer_by_handle(
const std::shared_ptr<const rcl_timer_t> & timer_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
if (!group) {
continue;
}
auto timer_ref = group->find_timer_ptrs_if(
[&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
return timer->get_timer_handle() == timer_handle;
});
if (timer_ref) {
return timer_ref;
}
}
return nullptr;
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
MemoryStrategy::get_node_by_group(
const rclcpp::CallbackGroup::SharedPtr & group,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
if (!group) {
return nullptr;
}
rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
if (finder != weak_groups_to_nodes.end()) {
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
return node_ptr;
}
return nullptr;
}
rclcpp::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_subscription(
const rclcpp::SubscriptionBase::SharedPtr & subscription,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
auto node = pair.second.lock();
if (!group || !node) {
continue;
}
auto match_sub = group->find_subscription_ptrs_if(
[&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
return sub == subscription;
});
if (match_sub) {
return group;
}
}
return nullptr;
}
rclcpp::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_service(
const rclcpp::ServiceBase::SharedPtr & service,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
auto node = pair.second.lock();
if (!group || !node) {
continue;
}
auto service_ref = group->find_service_ptrs_if(
[&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
return serv == service;
});
if (service_ref) {
return group;
}
}
return nullptr;
}
rclcpp::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_client(
const rclcpp::ClientBase::SharedPtr & client,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
auto node = pair.second.lock();
if (!group || !node) {
continue;
}
auto client_ref = group->find_client_ptrs_if(
[&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
return cli == client;
});
if (client_ref) {
return group;
}
}
return nullptr;
}
rclcpp::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_timer(
const rclcpp::TimerBase::SharedPtr & timer,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
auto node = pair.second.lock();
if (!group || !node) {
continue;
}
auto timer_ref = group->find_timer_ptrs_if(
[&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
return time == timer;
});
if (timer_ref) {
return group;
}
}
return nullptr;
}
rclcpp::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_waitable(
const rclcpp::Waitable::SharedPtr & waitable,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
{
for (const auto & pair : weak_groups_to_nodes) {
auto group = pair.first.lock();
auto node = pair.second.lock();
if (!group || !node) {
continue;
}
auto waitable_ref = group->find_waitable_ptrs_if(
[&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
return group_waitable == waitable;
});
if (waitable_ref) {
return group;
}
}
return nullptr;
}