.. _program_listing_file_include_rclcpp_waitable.hpp:

Program Listing for File waitable.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_waitable.hpp>` (``include/rclcpp/waitable.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__WAITABLE_HPP_
   #define RCLCPP__WAITABLE_HPP_
   
   #include <atomic>
   #include <functional>
   #include <memory>
   
   #include "rclcpp/macros.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   #include "rcl/wait.h"
   
   namespace rclcpp
   {
   
   class Waitable
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Waitable)
   
     RCLCPP_PUBLIC
     virtual ~Waitable() = default;
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_subscriptions();
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_timers();
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_clients();
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_events();
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_services();
   
   
     RCLCPP_PUBLIC
     virtual
     size_t
     get_number_of_ready_guard_conditions();
   
   
     RCLCPP_PUBLIC
     virtual
     void
     add_to_wait_set(rcl_wait_set_t * wait_set) = 0;
   
   
     RCLCPP_PUBLIC
     virtual
     bool
     is_ready(rcl_wait_set_t * wait_set) = 0;
   
   
     RCLCPP_PUBLIC
     virtual
     std::shared_ptr<void>
     take_data() = 0;
   
   
     RCLCPP_PUBLIC
     virtual
     std::shared_ptr<void>
     take_data_by_entity_id(size_t id);
   
   
     RCLCPP_PUBLIC
     virtual
     void
     execute(std::shared_ptr<void> & data) = 0;
   
   
     RCLCPP_PUBLIC
     bool
     exchange_in_use_by_wait_set_state(bool in_use_state);
   
   
     RCLCPP_PUBLIC
     virtual
     void
     set_on_ready_callback(std::function<void(size_t, int)> callback);
   
   
     RCLCPP_PUBLIC
     virtual
     void
     clear_on_ready_callback();
   
   private:
     std::atomic<bool> in_use_by_wait_set_{false};
   };  // class Waitable
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__WAITABLE_HPP_