Struct Context

Defined in File context.hpp

Struct Documentation

struct Context

Base data structure that a Context will need in any DDS-based RMW implementation mapping one Participant to Multiple Nodes.

Public Members

rmw_gid_t gid: Global ID of the Participant that the Context uses.

rmw_publisher_t *pub: Publisher used to publish ParticipantEntitiesInfo discovery data.

rmw_subscription_t *sub: Subscriber used to listen to ParticipantEntitiesInfo discovery data.

GraphCache graph_cache: Cached graph from discovery data.

std::mutex node_update_mutex: Mutex that should be locked when updating graph cache and publishing a graph message.

std::thread listener_thread: Thread to listen to discovery data.

std::atomic_bool thread_is_running: Indicates if the listener thread is running.

rmw_guard_condition_t *listener_thread_gc: Awakes listener thread when finishing the context.

rmw_guard_condition_t *graph_guard_condition: Guard condition that should be triggered when the graph changes.