#include <multi_threaded_executor.hpp>
Inheritance diagram for rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor:
Public Member Functions | |
| MultiThreadedExecutor (const executor::ExecutorArgs &args=rclcpp::executor::create_default_executor_arguments()) | |
| virtual | ~MultiThreadedExecutor () |
| void | spin () |
| Do work periodically as it becomes available to us. Blocking call, may block indefinitely. More... | |
| size_t | get_number_of_threads () |
 Public Member Functions inherited from rclcpp::executor::Executor | |
| Executor (const ExecutorArgs &args=create_default_executor_arguments()) | |
| Default constructor. More... | |
| virtual | ~Executor () |
| Default destructor. More... | |
| virtual void | add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) |
| Add a node to the executor. More... | |
| virtual void | add_node (std::shared_ptr< rclcpp::node::Node > node_ptr, bool notify=true) |
| Convenience function which takes Node and forwards NodeBaseInterface. More... | |
| virtual void | remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) |
| Remove a node from the executor. More... | |
| virtual void | remove_node (std::shared_ptr< rclcpp::node::Node > node_ptr, bool notify=true) |
| Convenience function which takes Node and forwards NodeBaseInterface. More... | |
| template<typename T = std::milli> | |
| void | spin_node_once (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::duration< int64_t, T > timeout=std::chrono::duration< int64_t, T >(-1)) |
| Add a node to executor, execute the next available unit of work, and remove the node. More... | |
| template<typename NodeT = rclcpp::node::Node, typename T = std::milli> | |
| void | spin_node_once (std::shared_ptr< NodeT > node, std::chrono::duration< int64_t, T > timeout=std::chrono::duration< int64_t, T >(-1)) |
| Convenience function which takes Node and forwards NodeBaseInterface. More... | |
| void | spin_node_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node) |
| Add a node, complete all immediately available work, and remove the node. More... | |
| void | spin_node_some (std::shared_ptr< rclcpp::node::Node > node) |
| Convenience function which takes Node and forwards NodeBaseInterface. More... | |
| virtual void | spin_some () |
| Complete all available queued work without blocking. More... | |
| virtual void | spin_once (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
| template<typename ResponseT , typename TimeT = std::milli> | |
| FutureReturnCode | spin_until_future_complete (std::shared_future< ResponseT > &future, std::chrono::duration< int64_t, TimeT > timeout=std::chrono::duration< int64_t, TimeT >(-1)) |
| Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted. More... | |
| void | cancel () |
| Cancel any running spin* function, causing it to return. More... | |
| void | set_memory_strategy (memory_strategy::MemoryStrategy::SharedPtr memory_strategy) |
| Support dynamic switching of the memory strategy. More... | |
Protected Member Functions | |
| void | run (size_t this_thread_number) |
| Protected Member Functions inherited from rclcpp::executor::Executor | |
| void | spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout) |
| void | execute_any_executable (AnyExecutable::SharedPtr any_exec) |
| Find the next available executable and do the work associated with it. More... | |
| void | wait_for_work (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
| rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_by_group (rclcpp::callback_group::CallbackGroup::SharedPtr group) |
| rclcpp::callback_group::CallbackGroup::SharedPtr | get_group_by_timer (rclcpp::timer::TimerBase::SharedPtr timer) |
| void | get_next_timer (AnyExecutable::SharedPtr any_exec) |
| AnyExecutable::SharedPtr | get_next_ready_executable () |
| AnyExecutable::SharedPtr | get_next_executable (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
Additional Inherited Members | |
| Static Protected Member Functions inherited from rclcpp::executor::Executor | |
| static void | execute_subscription (rclcpp::subscription::SubscriptionBase::SharedPtr subscription) |
| static void | execute_intra_process_subscription (rclcpp::subscription::SubscriptionBase::SharedPtr subscription) |
| static void | execute_timer (rclcpp::timer::TimerBase::SharedPtr timer) |
| static void | execute_service (rclcpp::service::ServiceBase::SharedPtr service) |
| static void | execute_client (rclcpp::client::ClientBase::SharedPtr client) |
| Protected Attributes inherited from rclcpp::executor::Executor | |
| std::atomic_bool | spinning |
| Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins. More... | |
| rcl_guard_condition_t | interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition() |
| Guard condition for signaling the rmw layer to wake up for special events. More... | |
| rcl_wait_set_t | waitset_ = rcl_get_zero_initialized_wait_set() |
| Waitset for managing entities that the rmw layer waits on. More... | |
| memory_strategy::MemoryStrategy::SharedPtr | memory_strategy_ |
| The memory strategy: an interface for handling user-defined memory allocation strategies. More... | |
Constructor & Destructor Documentation
◆ MultiThreadedExecutor()
| rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::MultiThreadedExecutor | ( | const executor::ExecutorArgs & | args = rclcpp::executor::create_default_executor_arguments() | ) |
◆ ~MultiThreadedExecutor()
|
virtual |
Member Function Documentation
◆ spin()
|
virtual |
Do work periodically as it becomes available to us. Blocking call, may block indefinitely.
Implements rclcpp::executor::Executor.
◆ get_number_of_threads()
| size_t rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::get_number_of_threads | ( | ) |
◆ run()
|
protected |
The documentation for this class was generated from the following file:
- include/rclcpp/executors/multi_threaded_executor.hpp
