#include <multi_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::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_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_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, 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)
	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::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::SubscriptionBase::SharedPtr subscription)

static void	execute_intra_process_subscription (rclcpp::SubscriptionBase::SharedPtr subscription)

static void	execute_timer (rclcpp::TimerBase::SharedPtr timer)

static void	execute_service (rclcpp::ServiceBase::SharedPtr service)

static void	execute_client (rclcpp::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	wait_set_ = rcl_get_zero_initialized_wait_set()
	Wait set 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::MultiThreadedExecutor::MultiThreadedExecutor ( const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments() )

◆ ~MultiThreadedExecutor()

virtual rclcpp::executors::MultiThreadedExecutor::~MultiThreadedExecutor ( )

virtual

Member Function Documentation

◆ spin()

void rclcpp::executors::MultiThreadedExecutor::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::MultiThreadedExecutor::get_number_of_threads ( )

◆ run()

void rclcpp::executors::MultiThreadedExecutor::run ( size_t this_thread_number )

protected

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

rclcpp/executors/multi_threaded_executor.hpp

Public Member Functions

Protected Member Functions