Struct GuardCondition 

pub struct GuardCondition { /* private fields */ }

Handle for triggering a guard condition from outside the executor.

Obtained from Executor::register_guard_condition. Safe to use from any thread — the inner &'static AtomicBool is inherently Send + Sync.

Implementations

impl GuardCondition

pub fn trigger(&self)

Trigger the guard condition.

The executor will invoke the associated callback on the next spin iteration. On std + rmw-cffi builds, trigger also signals the executor’s wake condvar so a blocked spin_once resumes immediately.

pub fn is_triggered(&self) -> bool

Is this guard condition triggered and not yet dispatched?

The RFC-0022 POLLING tier: a task that owns its own loop and never reaches a callback still needs to see the flag another thread or an ISR set. rcl has no such reader — a wait set is the only way to observe an rcl guard condition — so this is ours, and phase-417 W4.e gave Rust and C++ the reader C already had.

Bounded claim: the executor CONSUMES the flag when it dispatches (guard_try_process swaps it false and then calls the callback), so this answers “set and not yet dispatched”. A poller that also spins the executor is racing itself, and should read the flag OR take the callback, not both.

pub fn clear(&self) -> bool

Clear the flag without dispatching — the other half of is_triggered, for a polling owner that has just handled the event itself.

Returns what the flag WAS, so a poller can take-and-clear in one step without a read/clear race against another thread’s trigger.

Trait Implementations

impl Clone for GuardCondition

phase-467 Row 8 — a SECOND handle to the same arena flag.

Sound by construction: every field is Copy, the flag is a &'static reference into an arena that outlives every handle, and trigger() is a store plus a wake — there is no ownership to duplicate and nothing to free. is_triggered/clear are already documented as racing an executor that dispatches, so a second handle adds no contract.

Written rather than derived so the reason is here: the graph-change edge needs one handle in the CALLER’s rcl_guard_condition_t and one the EXECUTOR owns for the backend to fire (issue 1385’s shape). Not Copy — an implicit copy of a trigger handle reads as a value and behaves as an alias, which is exactly the confusion the 1385 fix is about.

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Send for GuardCondition

impl Sync for GuardCondition