// Copyright 2018 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.

#include <stdexcept>

#include "rclcpp/waitable.hpp"

using rclcpp::Waitable;

size_t

Waitable::get_number_of_ready_subscriptions()

{

return 0u;

}

size_t

Waitable::get_number_of_ready_timers()

{

return 0u;

}

size_t

Waitable::get_number_of_ready_clients()

{

return 0u;

}

size_t

Waitable::get_number_of_ready_events()

{

return 0u;

}

size_t

Waitable::get_number_of_ready_services()

{

return 0u;

}

size_t

Waitable::get_number_of_ready_guard_conditions()

{

return 0u;

}

std::shared_ptr<void>

Waitable::take_data_by_entity_id(size_t id)

{

(void)id;

throw std::runtime_error(

"Custom waitables should override take_data_by_entity_id "

"if they want to use it.");

}

bool

Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)

{

return in_use_by_wait_set_.exchange(in_use_state);

}

void

Waitable::set_on_ready_callback(std::function<void(size_t, int)> callback)

{

(void)callback;

throw std::runtime_error(

"Custom waitables should override set_on_ready_callback "

"if they want to use it.");

}

void

Waitable::clear_on_ready_callback()

{

throw std::runtime_error(

"Custom waitables should override clear_on_ready_callback if they "

"want to use it and make sure to call it on the waitable destructor.");

}

void

Waitable::add_to_wait_set(rcl_wait_set_t * wait_set)

{

this->add_to_wait_set(*wait_set);

}

void

Waitable::add_to_wait_set(rcl_wait_set_t & wait_set)

{

#if !defined(_WIN32)

# pragma GCC diagnostic push

# pragma GCC diagnostic ignored "-Wdeprecated-declarations"

#else // !defined(_WIN32)

# pragma warning(push)

# pragma warning(disable: 4996)

#endif

this->add_to_wait_set(&wait_set);

// remove warning suppression

#if !defined(_WIN32)

# pragma GCC diagnostic pop

#else // !defined(_WIN32)

# pragma warning(pop)

#endif

}

bool

Waitable::is_ready(rcl_wait_set_t * wait_set)

{

const rcl_wait_set_t & const_wait_set_ref = *wait_set;

return this->is_ready(const_wait_set_ref);

}

bool

Waitable::is_ready(const rcl_wait_set_t & wait_set)

{

#if !defined(_WIN32)

# pragma GCC diagnostic push

# pragma GCC diagnostic ignored "-Wdeprecated-declarations"

#else // !defined(_WIN32)

# pragma warning(push)

# pragma warning(disable: 4996)

#endif

// note this const cast is only required to support a deprecated function

return this->is_ready(&const_cast<rcl_wait_set_t &>(wait_set));

// remove warning suppression

#if !defined(_WIN32)

# pragma GCC diagnostic pop

#else // !defined(_WIN32)

# pragma warning(pop)

#endif

}

void

Waitable::execute(std::shared_ptr<void> & data)

{

const std::shared_ptr<void> & const_data = data;

this->execute(const_data);

}

void

Waitable::execute(const std::shared_ptr<void> & data)

{

#if !defined(_WIN32)

# pragma GCC diagnostic push

# pragma GCC diagnostic ignored "-Wdeprecated-declarations"

#else // !defined(_WIN32)

# pragma warning(push)

# pragma warning(disable: 4996)

#endif

// note this const cast is only required to support a deprecated function

this->execute(const_cast<std::shared_ptr<void> &>(data));

// remove warning suppression

#if !defined(_WIN32)

# pragma GCC diagnostic pop

#else // !defined(_WIN32)

# pragma warning(pop)

#endif

}