// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved. // Copyright (c) 2020 - 2021 Apex.AI Inc. All rights reserved. // // 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. // // SPDX-License-Identifier: Apache-2.0 #include "iceoryx_binding_c/internal/cpp2c_subscriber.hpp" #include "iceoryx_binding_c/enums.h" #include "iceoryx_binding_c/internal/cpp2c_enum_translation.hpp" #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp" using namespace iox::popo; cpp2c_Subscriber::~cpp2c_Subscriber() noexcept { if (m_portData) { iox::popo::SubscriberPortUser(m_portData).destroy(); } } void cpp2c_Subscriber::enableEvent(iox::popo::TriggerHandle&& triggerHandle, const iox::popo::SubscriberEvent subscriberEvent) noexcept { switch (subscriberEvent) { case SubscriberEvent::DATA_RECEIVED: m_trigger = std::move(triggerHandle); iox::popo::SubscriberPortUser(m_portData) .setConditionVariable(*m_trigger.getConditionVariableData(), m_trigger.getUniqueId()); break; } } void cpp2c_Subscriber::disableEvent(const SubscriberEvent subscriberEvent) noexcept { switch (subscriberEvent) { case SubscriberEvent::DATA_RECEIVED: m_trigger.reset(); break; } } void cpp2c_Subscriber::enableState(iox::popo::TriggerHandle&& triggerHandle, const iox::popo::SubscriberState subscriberState) noexcept { switch (subscriberState) { case SubscriberState::HAS_DATA: m_trigger = std::move(triggerHandle); iox::popo::SubscriberPortUser(m_portData) .setConditionVariable(*m_trigger.getConditionVariableData(), m_trigger.getUniqueId()); break; } } void cpp2c_Subscriber::disableState(const SubscriberState subscriberState) noexcept { switch (subscriberState) { case SubscriberState::HAS_DATA: m_trigger.reset(); break; } } iox::popo::WaitSetIsConditionSatisfiedCallback cpp2c_Subscriber::getCallbackForIsStateConditionSatisfied(const SubscriberState subscriberState) const noexcept { switch (subscriberState) { case SubscriberState::HAS_DATA: return {*this, &cpp2c_Subscriber::hasSamples}; } return {}; } void cpp2c_Subscriber::invalidateTrigger(const uint64_t uniqueTriggerId) noexcept { if (m_trigger.getUniqueId() == uniqueTriggerId) { iox::popo::SubscriberPortUser(m_portData).unsetConditionVariable(); m_trigger.invalidate(); } } bool cpp2c_Subscriber::hasSamples() const noexcept { return iox::popo::SubscriberPortUser(m_portData).hasNewChunks(); }