.. _program_listing_file_include_rclcpp_memory_strategy.hpp:

Program Listing for File memory_strategy.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_memory_strategy.hpp>` (``include/rclcpp/memory_strategy.hpp``)

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

.. code-block:: cpp

   // 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.
   
   #ifndef RCLCPP__MEMORY_STRATEGY_HPP_
   #define RCLCPP__MEMORY_STRATEGY_HPP_
   
   #include <list>
   #include <map>
   #include <memory>
   
   #include "rcl/allocator.h"
   #include "rcl/wait.h"
   
   #include "rclcpp/any_executable.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/visibility_control.hpp"
   #include "rclcpp/waitable.hpp"
   
   namespace rclcpp
   {
   namespace memory_strategy
   {
   
   
   class RCLCPP_PUBLIC MemoryStrategy
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
     using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
         std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
   
     virtual ~MemoryStrategy() = default;
   
     virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual size_t number_of_ready_subscriptions() const = 0;
     virtual size_t number_of_ready_services() const = 0;
     virtual size_t number_of_ready_clients() const = 0;
     virtual size_t number_of_ready_events() const = 0;
     virtual size_t number_of_ready_timers() const = 0;
     virtual size_t number_of_guard_conditions() const = 0;
     virtual size_t number_of_waitables() const = 0;
   
     virtual void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) = 0;
     virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
     virtual void clear_handles() = 0;
     virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
   
     virtual void
     add_guard_condition(const rclcpp::GuardCondition & guard_condition) = 0;
   
     virtual void
     remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
   
     virtual void
     get_next_subscription(
       rclcpp::AnyExecutable & any_exec,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual void
     get_next_service(
       rclcpp::AnyExecutable & any_exec,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual void
     get_next_client(
       rclcpp::AnyExecutable & any_exec,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual void
     get_next_timer(
       rclcpp::AnyExecutable & any_exec,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual void
     get_next_waitable(
       rclcpp::AnyExecutable & any_exec,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
   
     virtual rcl_allocator_t
     get_allocator() = 0;
   
     static rclcpp::SubscriptionBase::SharedPtr
     get_subscription_by_handle(
       const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::ServiceBase::SharedPtr
     get_service_by_handle(
       const std::shared_ptr<const rcl_service_t> & service_handle,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::ClientBase::SharedPtr
     get_client_by_handle(
       const std::shared_ptr<const rcl_client_t> & client_handle,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::TimerBase::SharedPtr
     get_timer_by_handle(
       const std::shared_ptr<const rcl_timer_t> & timer_handle,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
     get_node_by_group(
       const rclcpp::CallbackGroup::SharedPtr & group,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::CallbackGroup::SharedPtr
     get_group_by_subscription(
       const rclcpp::SubscriptionBase::SharedPtr & subscription,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::CallbackGroup::SharedPtr
     get_group_by_service(
       const rclcpp::ServiceBase::SharedPtr & service,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::CallbackGroup::SharedPtr
     get_group_by_client(
       const rclcpp::ClientBase::SharedPtr & client,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::CallbackGroup::SharedPtr
     get_group_by_timer(
       const rclcpp::TimerBase::SharedPtr & timer,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   
     static rclcpp::CallbackGroup::SharedPtr
     get_group_by_waitable(
       const rclcpp::Waitable::SharedPtr & waitable,
       const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
   };
   
   }  // namespace memory_strategy
   }  // namespace rclcpp
   
   #endif  // RCLCPP__MEMORY_STRATEGY_HPP_