.. _program_listing_file_include_rclcpp_executors_executor_notify_waitable.hpp:

Program Listing for File executor_notify_waitable.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_executors_executor_notify_waitable.hpp>` (``include/rclcpp/executors/executor_notify_waitable.hpp``)

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

.. code-block:: cpp

   // Copyright 2023 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__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
   #define RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
   
   #include <functional>
   #include <memory>
   #include <mutex>
   #include <set>
   
   #include "rclcpp/guard_condition.hpp"
   #include "rclcpp/waitable.hpp"
   
   namespace rclcpp
   {
   namespace executors
   {
   
   class ExecutorNotifyWaitable : public rclcpp::Waitable
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(ExecutorNotifyWaitable)
   
     // Constructor
     RCLCPP_PUBLIC
     explicit ExecutorNotifyWaitable(std::function<void(void)> on_execute_callback = {});
   
     // Destructor
     RCLCPP_PUBLIC
     ~ExecutorNotifyWaitable() override = default;
   
     RCLCPP_PUBLIC
     ExecutorNotifyWaitable(ExecutorNotifyWaitable & other);
   
     RCLCPP_PUBLIC
     ExecutorNotifyWaitable & operator=(ExecutorNotifyWaitable & other);
   
   
     RCLCPP_PUBLIC
     void
     add_to_wait_set(rcl_wait_set_t & wait_set) override;
   
   
     RCLCPP_PUBLIC
     bool
     is_ready(const rcl_wait_set_t & wait_set) override;
   
   
     RCLCPP_PUBLIC
     void
     execute(const std::shared_ptr<void> & data) override;
   
   
     RCLCPP_PUBLIC
     std::shared_ptr<void>
     take_data() override;
   
   
     RCLCPP_PUBLIC
     std::shared_ptr<void>
     take_data_by_entity_id(size_t id) override;
   
   
     RCLCPP_PUBLIC
     void
     set_on_ready_callback(std::function<void(size_t, int)> callback) override;
   
   
     RCLCPP_PUBLIC
     void
     add_guard_condition(rclcpp::GuardCondition::WeakPtr guard_condition);
   
   
     RCLCPP_PUBLIC
     void
     clear_on_ready_callback() override;
   
   
     RCLCPP_PUBLIC
     void
     remove_guard_condition(rclcpp::GuardCondition::WeakPtr weak_guard_condition);
   
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_ready_guard_conditions() override;
   
   private:
     std::function<void(void)> execute_callback_;
   
     std::mutex guard_condition_mutex_;
   
     std::function<void(size_t)> on_ready_callback_;
   
     std::set<rclcpp::GuardCondition::WeakPtr,
       std::owner_less<rclcpp::GuardCondition::WeakPtr>> notify_guard_conditions_;
   };
   
   }  // namespace executors
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_