def __init__(
self,
*,
callback_group: CallbackGroup,
callback: Callable,
event_type: IntEnum,
parent_handle: Handle,
):
# Waitable init adds self to callback_group
super().__init__(callback_group)
self.event_type = event_type
self.callback = callback
self._parent_handle = parent_handle
with parent_handle as parent_capsule:
event_capsule = _rclpy.rclpy_create_event(event_type,
parent_capsule)
self._event_handle = Handle(event_capsule)
self._ready_to_take_data = False
self._event_index = None
def _create_event_handle(self, parent_entity, event_type):
with parent_entity.handle as parent_capsule:
event_capsule = _rclpy.rclpy_create_event(event_type, parent_capsule)
self.assertIsNotNone(event_capsule)
return Handle(event_capsule)