.. _program_listing_file_include_rclcpp_node_interfaces_node_waitables_interface.hpp:

Program Listing for File node_waitables_interface.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_node_interfaces_node_waitables_interface.hpp>` (``include/rclcpp/node_interfaces/node_waitables_interface.hpp``)

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

.. code-block:: cpp

   // Copyright 2018 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__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_
   #define RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_
   
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/visibility_control.hpp"
   #include "rclcpp/waitable.hpp"
   
   namespace rclcpp
   {
   namespace node_interfaces
   {
   
   class NodeWaitablesInterface
   {
   public:
     RCLCPP_SMART_PTR_ALIASES_ONLY(NodeWaitablesInterface)
   
     RCLCPP_PUBLIC
     virtual
     ~NodeWaitablesInterface() = default;
   
     RCLCPP_PUBLIC
     virtual
     void
     add_waitable(
       rclcpp::Waitable::SharedPtr waitable_ptr,
       rclcpp::CallbackGroup::SharedPtr group) = 0;
   
     RCLCPP_PUBLIC
     virtual
     void
     remove_waitable(
       rclcpp::Waitable::SharedPtr waitable_ptr,
       rclcpp::CallbackGroup::SharedPtr group) noexcept = 0;
   };
   
   }  // namespace node_interfaces
   }  // namespace rclcpp
   
   #endif  // RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_