Program Listing for File context.hpp
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// 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 RMW_DDS_COMMON__CONTEXT_HPP_
#define RMW_DDS_COMMON__CONTEXT_HPP_
#include <atomic>
#include <functional>
#include <mutex>
#include <string>
#include <thread>
#include "rmw/types.h"
#include "rmw_dds_common/graph_cache.hpp"
#include "rmw_dds_common/visibility_control.h"
namespace rmw_dds_common
{
struct Context
{
rmw_gid_t gid;
rmw_publisher_t * pub;
rmw_subscription_t * sub;
GraphCache graph_cache;
std::thread listener_thread;
std::atomic_bool thread_is_running;
rmw_guard_condition_t * listener_thread_gc;
rmw_guard_condition_t * graph_guard_condition;
using publish_callback_t =
std::function<rmw_ret_t(const rmw_publisher_t * pub, const void * msg)>;
publish_callback_t publish_callback;
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
add_node_graph(
const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
remove_node_graph(
const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
add_subscriber_graph(
const rmw_gid_t & subscription_gid, const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
remove_subscriber_graph(
const rmw_gid_t & subscription_gid, const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
add_publisher_graph(
const rmw_gid_t & publisher_gid, const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
remove_publisher_graph(
const rmw_gid_t & publisher_gid, const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
add_client_graph(
const rmw_gid_t & request_publisher_gid, const rmw_gid_t & response_subscriber_gid,
const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
remove_client_graph(
const rmw_gid_t & request_publisher_gid, const rmw_gid_t & response_subscriber_gid,
const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
add_service_graph(
const rmw_gid_t & request_subscriber_gid, const rmw_gid_t & response_publisher_gid,
const std::string & name, const std::string & namespace_);
RMW_DDS_COMMON_PUBLIC
rmw_ret_t
remove_service_graph(
const rmw_gid_t & request_subscriber_gid, const rmw_gid_t & response_publisher_gid,
const std::string & name, const std::string & namespace_);
private:
std::mutex node_update_mutex;
};
} // namespace rmw_dds_common
#endif // RMW_DDS_COMMON__CONTEXT_HPP_