.. _program_listing_file_include_rclcpp_executors_static_executor_entities_collector.hpp:

Program Listing for File static_executor_entities_collector.hpp
===============================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_executors_static_executor_entities_collector.hpp>` (``include/rclcpp/executors/static_executor_entities_collector.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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.
   
   #ifndef RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
   #define RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
   
   #include <chrono>
   #include <list>
   #include <map>
   #include <memory>
   #include <vector>
   
   #include "rcl/guard_condition.h"
   #include "rcl/wait.h"
   
   #include "rclcpp/experimental/executable_list.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/memory_strategy.hpp"
   #include "rclcpp/visibility_control.hpp"
   #include "rclcpp/waitable.hpp"
   
   namespace rclcpp
   {
   namespace executors
   {
   typedef std::map<rclcpp::CallbackGroup::WeakPtr,
       rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
       std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
   
   class StaticExecutorEntitiesCollector final
     : public rclcpp::Waitable,
     public std::enable_shared_from_this<StaticExecutorEntitiesCollector>
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(StaticExecutorEntitiesCollector)
   
     // Constructor
     RCLCPP_PUBLIC
     StaticExecutorEntitiesCollector() = default;
   
     // Destructor
     RCLCPP_PUBLIC
     ~StaticExecutorEntitiesCollector();
   
   
     RCLCPP_PUBLIC
     void
     init(
       rcl_wait_set_t * p_wait_set,
       rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
   
     RCLCPP_PUBLIC
     bool
     is_init() {return initialized_;}
   
     RCLCPP_PUBLIC
     void
     fini();
   
     RCLCPP_PUBLIC
     void
     execute(std::shared_ptr<void> & data) override;
   
   
     RCLCPP_PUBLIC
     std::shared_ptr<void>
     take_data() override;
   
   
     RCLCPP_PUBLIC
     void
     refresh_wait_set(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
   
     RCLCPP_PUBLIC
     void
     add_to_wait_set(rcl_wait_set_t * wait_set) override;
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_ready_guard_conditions() override;
   
   
     RCLCPP_PUBLIC
     bool
     add_callback_group(
       rclcpp::CallbackGroup::SharedPtr group_ptr,
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
   
   
     RCLCPP_PUBLIC
     bool
     add_callback_group(
       rclcpp::CallbackGroup::SharedPtr group_ptr,
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
       WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
   
     RCLCPP_PUBLIC
     bool
     remove_callback_group(
       rclcpp::CallbackGroup::SharedPtr group_ptr);
   
   
     RCLCPP_PUBLIC
     bool
     remove_callback_group_from_map(
       rclcpp::CallbackGroup::SharedPtr group_ptr,
       WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     RCLCPP_PUBLIC
     bool
     add_node(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
   
     RCLCPP_PUBLIC
     bool
     remove_node(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_all_callback_groups();
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_manually_added_callback_groups();
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_automatically_added_callback_groups_from_nodes();
   
   
     RCLCPP_PUBLIC
     bool
     is_ready(rcl_wait_set_t * wait_set) override;
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_timers() {return exec_list_.number_of_timers;}
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_subscriptions() {return exec_list_.number_of_subscriptions;}
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_services() {return exec_list_.number_of_services;}
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_clients() {return exec_list_.number_of_clients;}
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_waitables() {return exec_list_.number_of_waitables;}
   
     RCLCPP_PUBLIC
     rclcpp::SubscriptionBase::SharedPtr
     get_subscription(size_t i) {return exec_list_.subscription[i];}
   
     RCLCPP_PUBLIC
     rclcpp::TimerBase::SharedPtr
     get_timer(size_t i) {return exec_list_.timer[i];}
   
     RCLCPP_PUBLIC
     rclcpp::ServiceBase::SharedPtr
     get_service(size_t i) {return exec_list_.service[i];}
   
     RCLCPP_PUBLIC
     rclcpp::ClientBase::SharedPtr
     get_client(size_t i) {return exec_list_.client[i];}
   
     RCLCPP_PUBLIC
     rclcpp::Waitable::SharedPtr
     get_waitable(size_t i) {return exec_list_.waitable[i];}
   
   private:
   
     void
     prepare_wait_set();
   
     void
     fill_executable_list();
   
     void
     fill_memory_strategy();
   
   
     bool
     has_node(
       const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
   
   
     void
     add_callback_groups_from_nodes_associated_to_executor();
   
     void
     fill_executable_list_from_map(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
   
     // maps callback groups to nodes.
     WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
     // maps callback groups to nodes.
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
   
     typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
         const rclcpp::GuardCondition *,
         std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
       WeakNodesToGuardConditionsMap;
     WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
   
     std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   
     // Mutex to protect vector of new nodes.
     std::mutex new_nodes_mutex_;
     std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> new_nodes_;
   
     rcl_wait_set_t * p_wait_set_ = nullptr;
   
     rclcpp::experimental::ExecutableList exec_list_;
   
     bool initialized_ = false;
   };
   
   }  // namespace executors
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_