rclcpp::CallbackGroup Class Reference

#include <callback_group.hpp>

Collaboration diagram for rclcpp::CallbackGroup:

Public Member Functions
	CallbackGroup (CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true)
	Constructor for CallbackGroup. More...
template<typename Function >
rclcpp::SubscriptionBase::SharedPtr	find_subscription_ptrs_if (Function func) const
template<typename Function >
rclcpp::TimerBase::SharedPtr	find_timer_ptrs_if (Function func) const
template<typename Function >
rclcpp::ServiceBase::SharedPtr	find_service_ptrs_if (Function func) const
template<typename Function >
rclcpp::ClientBase::SharedPtr	find_client_ptrs_if (Function func) const
template<typename Function >
rclcpp::Waitable::SharedPtr	find_waitable_ptrs_if (Function func) const
std::atomic_bool &	can_be_taken_from ()
const CallbackGroupType &	type () const
std::atomic_bool &	get_associated_with_executor_atomic ()
	Return a reference to the 'associated with executor' atomic boolean. More...
bool	automatically_add_to_executor_with_node () const
	Return true if this callback group should be automatically added to an executor by the node. More...

Protected Member Functions
void	add_publisher (const rclcpp::PublisherBase::SharedPtr publisher_ptr)
void	add_subscription (const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)
void	add_timer (const rclcpp::TimerBase::SharedPtr timer_ptr)
void	add_service (const rclcpp::ServiceBase::SharedPtr service_ptr)
void	add_client (const rclcpp::ClientBase::SharedPtr client_ptr)
void	add_waitable (const rclcpp::Waitable::SharedPtr waitable_ptr)
void	remove_waitable (const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept

Protected Attributes
CallbackGroupType	type_
std::mutex	mutex_
std::atomic_bool	associated_with_executor_
std::vector< rclcpp::SubscriptionBase::WeakPtr >	subscription_ptrs_
std::vector< rclcpp::TimerBase::WeakPtr >	timer_ptrs_
std::vector< rclcpp::ServiceBase::WeakPtr >	service_ptrs_
std::vector< rclcpp::ClientBase::WeakPtr >	client_ptrs_
std::vector< rclcpp::Waitable::WeakPtr >	waitable_ptrs_
std::atomic_bool	can_be_taken_from_
const bool	automatically_add_to_executor_with_node_

Friends
class	rclcpp::node_interfaces::NodeServices
class	rclcpp::node_interfaces::NodeTimers
class	rclcpp::node_interfaces::NodeTopics
class	rclcpp::node_interfaces::NodeWaitables

Constructor & Destructor Documentation

CallbackGroup()

rclcpp::CallbackGroup::CallbackGroup ( CallbackGroupType  group_type, bool  automatically_add_to_executor_with_node = true  )

explicit

Constructor for CallbackGroup.

Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant' and when creating one the type must be specified.

Callbacks in Reentrant Callback Groups must be able to:

• run at the same time as themselves (reentrant)
• run at the same time as other callbacks in their group
• run at the same time as other callbacks in other groups

Callbacks in Mutually Exclusive Callback Groups:

• will not be run multiple times simultaneously (non-reentrant)
• will not be run at the same time as other callbacks in their group
• but must run at the same time as callbacks in other groups

Additionally, callback groups have a property which determines whether or not they are added to an executor with their associated node automatically. When creating a callback group the automatically_add_to_executor_with_node argument determines this behavior, and if true it will cause the newly created callback group to be added to an executor with the node when the Executor::add_node method is used. If false, this callback group will not be added automatically and would have to be added to an executor manually using the Executor::add_callback_group method.

Whether the node was added to the executor before creating the callback group, or after, is irrelevant; the callback group will be automatically added to the executor in either case.

Parameters

[in]	group_type	The type of the callback group.
[in]	automatically_add_to_executor_with_node	A boolean that determines whether a callback group is automatically added to an executor with the node with which it is associated.

Member Function Documentation

find_subscription_ptrs_if()

template<typename Function >

rclcpp::SubscriptionBase::SharedPtr rclcpp::CallbackGroup::find_subscription_ptrs_if ( Function  func ) const

inline

find_timer_ptrs_if()

template<typename Function >

rclcpp::TimerBase::SharedPtr rclcpp::CallbackGroup::find_timer_ptrs_if ( Function  func ) const

inline

find_service_ptrs_if()

template<typename Function >

rclcpp::ServiceBase::SharedPtr rclcpp::CallbackGroup::find_service_ptrs_if ( Function  func ) const

inline

find_client_ptrs_if()

template<typename Function >

rclcpp::ClientBase::SharedPtr rclcpp::CallbackGroup::find_client_ptrs_if ( Function  func ) const

inline

find_waitable_ptrs_if()

template<typename Function >

rclcpp::Waitable::SharedPtr rclcpp::CallbackGroup::find_waitable_ptrs_if ( Function  func ) const

inline

can_be_taken_from()

std::atomic_bool& rclcpp::CallbackGroup::can_be_taken_from

(

)

type()

const CallbackGroupType& rclcpp::CallbackGroup::type

(

)

const

get_associated_with_executor_atomic()

std::atomic_bool& rclcpp::CallbackGroup::get_associated_with_executor_atomic

(

)

Return a reference to the 'associated with executor' atomic boolean.

When a callback group is added to an executor this boolean is checked to ensure it has not already been added to another executor. If it has not been, then this boolean is set to true to indicate it is now associated with an executor.

When the callback group is removed from the executor, this atomic boolean is set back to false.

Returns

the 'associated with executor' atomic boolean

automatically_add_to_executor_with_node()

bool rclcpp::CallbackGroup::automatically_add_to_executor_with_node

(

)

const

Return true if this callback group should be automatically added to an executor by the node.

Returns

boolean true if this callback group should be automatically added to an executor when the associated node is added, otherwise false.

add_publisher()

void rclcpp::CallbackGroup::add_publisher ( const rclcpp::PublisherBase::SharedPtr  publisher_ptr )

protected

add_subscription()

void rclcpp::CallbackGroup::add_subscription ( const rclcpp::SubscriptionBase::SharedPtr  subscription_ptr )

protected

add_timer()

void rclcpp::CallbackGroup::add_timer ( const rclcpp::TimerBase::SharedPtr  timer_ptr )

protected

add_service()

void rclcpp::CallbackGroup::add_service ( const rclcpp::ServiceBase::SharedPtr  service_ptr )

protected

add_client()

void rclcpp::CallbackGroup::add_client ( const rclcpp::ClientBase::SharedPtr  client_ptr )

protected

add_waitable()

void rclcpp::CallbackGroup::add_waitable ( const rclcpp::Waitable::SharedPtr  waitable_ptr )

protected

remove_waitable()

void rclcpp::CallbackGroup::remove_waitable ( const rclcpp::Waitable::SharedPtr  waitable_ptr )

protectednoexcept

Friends And Related Function Documentation

rclcpp::node_interfaces::NodeServices

friend class rclcpp::node_interfaces::NodeServices

friend

rclcpp::node_interfaces::NodeTimers

friend class rclcpp::node_interfaces::NodeTimers

friend

rclcpp::node_interfaces::NodeTopics

friend class rclcpp::node_interfaces::NodeTopics

friend

rclcpp::node_interfaces::NodeWaitables

friend class rclcpp::node_interfaces::NodeWaitables

friend

Member Data Documentation

type_

CallbackGroupType rclcpp::CallbackGroup::type_

protected

mutex_

std::mutex rclcpp::CallbackGroup::mutex_

mutableprotected

associated_with_executor_

std::atomic_bool rclcpp::CallbackGroup::associated_with_executor_

protected

subscription_ptrs_

std::vector<rclcpp::SubscriptionBase::WeakPtr> rclcpp::CallbackGroup::subscription_ptrs_

protected

timer_ptrs_

std::vector<rclcpp::TimerBase::WeakPtr> rclcpp::CallbackGroup::timer_ptrs_

protected

service_ptrs_

std::vector<rclcpp::ServiceBase::WeakPtr> rclcpp::CallbackGroup::service_ptrs_

protected

client_ptrs_

std::vector<rclcpp::ClientBase::WeakPtr> rclcpp::CallbackGroup::client_ptrs_

protected

waitable_ptrs_

std::vector<rclcpp::Waitable::WeakPtr> rclcpp::CallbackGroup::waitable_ptrs_

protected

can_be_taken_from_

std::atomic_bool rclcpp::CallbackGroup::can_be_taken_from_

protected

automatically_add_to_executor_with_node_

const bool rclcpp::CallbackGroup::automatically_add_to_executor_with_node_

protected

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The documentation for this class was generated from the following file:

• include/rclcpp/callback_group.hpp