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Program Listing for File rmw_context_impl.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmw_gurumdds_rmw_gurumdds_cpp_include_rmw_gurumdds_cpp_rmw_context_impl.hpp>` (``/tmp/ws/src/rmw_gurumdds/rmw_gurumdds_cpp/include/rmw_gurumdds_cpp/rmw_context_impl.hpp``)

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

.. code-block:: cpp

   // Copyright 2022 GurumNetworks, 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 RMW_GURUMDDS_CPP__RMW_CONTEXT_IMPL_HPP_
   #define RMW_GURUMDDS_CPP__RMW_CONTEXT_IMPL_HPP_
   
   #include <stdio.h>
   
   #include <limits>
   #include <list>
   #include <map>
   #include <mutex>
   #include <regex>
   #include <string>
   
   #include "rmw/error_handling.h"
   #include "rmw/event.h"
   #include "rmw/get_node_info_and_types.h"
   #include "rmw/get_service_names_and_types.h"
   #include "rmw/get_topic_endpoint_info.h"
   #include "rmw/get_topic_names_and_types.h"
   #include "rmw/impl/cpp/macros.hpp"
   #include "rmw/names_and_types.h"
   #include "rmw/topic_endpoint_info_array.h"
   
   #include "rmw_dds_common/context.hpp"
   #include "rmw_dds_common/msg/participant_entities_info.hpp"
   
   #include "rmw_gurumdds_cpp/dds_include.hpp"
   #include "rmw_gurumdds_cpp/identifier.hpp"
   
   #include "rcutils/strdup.h"
   
   struct rmw_context_impl_s
   {
     rmw_dds_common::Context common_ctx;
     rmw_context_t * base;
   
     dds_DomainId_t domain_id;
     dds_DomainParticipant * participant;
   
     /* used for all DDS writers/readers created to support RMW Gurumdds(Publisher/Subscriber)Info. */
     dds_Publisher * publisher;
     dds_Subscriber * subscriber;
   
     bool localhost_only;
     bool service_mapping_basic;
   
     /* Participant reference count */
     size_t node_count{0};
   
     /* Mutex used to protect initialization/destruction. */
     std::mutex initialization_mutex;
   
     /* Shutdown flag. */
     bool is_shutdown;
   
     std::mutex endpoint_mutex;
   
     explicit rmw_context_impl_s(rmw_context_t * const base)
     : common_ctx(),
       base(base),
       domain_id(base->actual_domain_id),
       participant(nullptr),
       publisher(nullptr),
       subscriber(nullptr),
       localhost_only(base->options.localhost_only == RMW_LOCALHOST_ONLY_ENABLED)
     {
       /* destructor relies on these being initialized properly */
       common_ctx.thread_is_running.store(false);
       common_ctx.graph_guard_condition = nullptr;
       common_ctx.pub = nullptr;
       common_ctx.sub = nullptr;
     }
   
     ~rmw_context_impl_s()
     {
       if (0u != this->node_count) {
         RCUTILS_LOG_ERROR_NAMED(RMW_GURUMDDS_ID, "not all nodes finalized: %lu", this->node_count);
       }
     }
   
     // Initializes the participant, if it wasn't done already.
     // node_count is increased
     rmw_ret_t
     initialize_node(const char * node_name, const char * node_namespace, const bool localhost_only);
   
     // Destroys the participant, when node_count reaches 0.
     rmw_ret_t
     finalize_node();
   
     // Initialize the DomainParticipant associated with the context.
     rmw_ret_t
     initialize_participant(
       const char * node_name,
       const char * node_namespace,
       const bool localhost_only);
   
     // Finalize the DomainParticipant associated with the context.
     rmw_ret_t
     finalize_participant();
   
     rmw_ret_t
     finalize();
   };
   
   #endif  // RMW_GURUMDDS_CPP__RMW_CONTEXT_IMPL_HPP_