Function rcl_guard_condition_get_rmw_handle

Function Documentation

rmw_guard_condition_t *rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t *guard_condition)

Return the rmw guard condition handle.

The handle returned is a pointer to the internally held rmw handle. This function can fail, and therefore return NULL, if the:

  • guard_condition is NULL

  • guard_condition is invalid (never called init, called fini, or invalid node)

The returned handle is made invalid if the guard condition is finalized or if rcl_shutdown() is called. The returned handle is not guaranteed to be valid for the life time of the guard condition as it may be finalized and recreated itself. Therefore it is recommended to get the handle from the guard condition using this function each time it is needed and avoid use of the handle concurrently with functions that might change it.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

guard_condition – [in] pointer to the rcl guard_condition

Returns:

rmw guard condition handle if successful, otherwise NULL