.. _program_listing_file_include_rcl_event.h:

Program Listing for File event.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_event.h>` (``include/rcl/event.h``)

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

.. code-block:: cpp

   // Copyright 2019 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 RCL__EVENT_H_
   #define RCL__EVENT_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include <rmw/event.h>
   
   #include "rcl/client.h"
   #include "rcl/event_callback.h"
   #include "rcl/macros.h"
   #include "rcl/publisher.h"
   #include "rcl/service.h"
   #include "rcl/subscription.h"
   #include "rcl/visibility_control.h"
   
   typedef enum rcl_publisher_event_type_e
   {
     RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
     RCL_PUBLISHER_LIVELINESS_LOST,
     RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
     RCL_PUBLISHER_INCOMPATIBLE_TYPE,
     RCL_PUBLISHER_MATCHED,
   } rcl_publisher_event_type_t;
   
   typedef enum rcl_subscription_event_type_e
   {
     RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
     RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
     RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
     RCL_SUBSCRIPTION_MESSAGE_LOST,
     RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE,
     RCL_SUBSCRIPTION_MATCHED,
   } rcl_subscription_event_type_t;
   
   typedef struct rcl_event_impl_s rcl_event_impl_t;
   
   typedef struct rcl_event_s
   {
     rcl_event_impl_t * impl;
   } rcl_event_t;
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_event_t
   rcl_get_zero_initialized_event(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_event_init(
     rcl_event_t * event,
     const rcl_publisher_t * publisher,
     const rcl_publisher_event_type_t event_type);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_event_init(
     rcl_event_t * event,
     const rcl_subscription_t * subscription,
     const rcl_subscription_event_type_t event_type);
   
   // Take event using the event handle.
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_event(
     const rcl_event_t * event,
     void * event_info);
   
   // Finalize an event.
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_event_fini(rcl_event_t * event);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_event_t *
   rcl_event_get_rmw_handle(const rcl_event_t * event);
   
   
   RCL_PUBLIC
   bool
   rcl_event_is_valid(const rcl_event_t * event);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_event_set_callback(
     const rcl_event_t * event,
     rcl_event_callback_t callback,
     const void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__EVENT_H_