Template Class StaticStorage

Defined in File static_storage.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public rclcpp::wait_set_policies::detail::StoragePolicyCommon< true > (Template Class StoragePolicyCommon)

Class Documentation

template<std::size_t NumberOfSubscriptions, std::size_t NumberOfGuardCondtions, std::size_t NumberOfTimers, std::size_t NumberOfClients, std::size_t NumberOfServices, std::size_t NumberOfWaitables> class StaticStorage : public rclcpp::wait_set_policies::detail::StoragePolicyCommon<true>

WaitSet policy that explicitly provides fixed sized storage only.

Note the underlying rcl_wait_set_t is still dynamically allocated, but only once during construction, and deallocated once during destruction.

Protected Types

using is_mutable = std::false_type

using ArrayOfSubscriptions = std::array<SubscriptionEntry, NumberOfSubscriptions>

using SubscriptionsIterable = ArrayOfSubscriptions 

using ArrayOfGuardConditions = std::array<std::shared_ptr<rclcpp::GuardCondition>, NumberOfGuardCondtions>

using GuardConditionsIterable = ArrayOfGuardConditions 

using ArrayOfTimers = std::array<std::shared_ptr<rclcpp::TimerBase>, NumberOfTimers>

using TimersIterable = ArrayOfTimers 

using ArrayOfClients = std::array<std::shared_ptr<rclcpp::ClientBase>, NumberOfClients>

using ClientsIterable = ArrayOfClients 

using ArrayOfServices = std::array<std::shared_ptr<rclcpp::ServiceBase>, NumberOfServices>

using ServicesIterable = ArrayOfServices 

using ArrayOfWaitables = std::array<WaitableEntry, NumberOfWaitables>

using WaitablesIterable = ArrayOfWaitables 

Protected Functions

template<class ArrayOfExtraGuardConditions> inline explicit StaticStorage(const ArrayOfSubscriptions &subscriptions, const ArrayOfGuardConditions &guard_conditions, const ArrayOfExtraGuardConditions &extra_guard_conditions, const ArrayOfTimers &timers, const ArrayOfClients &clients, const ArrayOfServices &services, const ArrayOfWaitables &waitables, rclcpp::Context::SharedPtr context)

~StaticStorage() = default

template<class ArrayOfExtraGuardConditions> inline void storage_rebuild_rcl_wait_set(const ArrayOfExtraGuardConditions &extra_guard_conditions)

inline void storage_acquire_ownerships()

inline void storage_release_ownerships()

Protected Attributes

const ArrayOfSubscriptions subscriptions_

const ArrayOfGuardConditions guard_conditions_

const ArrayOfTimers timers_

const ArrayOfClients clients_

const ArrayOfServices services_

const ArrayOfWaitables waitables_

class SubscriptionEntry

Public Functions

inline SubscriptionEntry(std::shared_ptr<rclcpp::SubscriptionBase> subscription_in = nullptr, rclcpp::SubscriptionWaitSetMask mask_in = {}): Conversion constructor, which is intentionally not marked explicit.

Public Members

std::shared_ptr<rclcpp::SubscriptionBase> subscription

rclcpp::SubscriptionWaitSetMask mask

struct WaitableEntry

Public Functions

inline WaitableEntry(std::shared_ptr<rclcpp::Waitable> waitable_in = nullptr, std::shared_ptr<void> associated_entity_in = nullptr) noexcept: Conversion constructor, which is intentionally not marked explicit.

Public Members

std::shared_ptr<rclcpp::Waitable> waitable

std::shared_ptr<void> associated_entity