Program Listing for File memory_strategy.hpp
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// 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_