rclcpp
master
C++ ROS Client Library API
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Single-threaded executor implementation. More...
#include <single_threaded_executor.hpp>
Public Member Functions | |
SingleThreadedExecutor (const executor::ExecutorArgs &args=rclcpp::executor::create_default_executor_arguments()) | |
Default constructor. See the default constructor for Executor. More... | |
virtual | ~SingleThreadedExecutor () |
Default destrcutor. More... | |
void | spin () |
Single-threaded implementation of spin. More... | |
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... | |
Additional Inherited Members | |
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 &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 &any_exec) |
bool | get_next_ready_executable (AnyExecutable &any_executable) |
bool | get_next_executable (AnyExecutable &any_executable, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
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... | |
Single-threaded executor implementation.
rclcpp::executors::SingleThreadedExecutor::SingleThreadedExecutor | ( | const executor::ExecutorArgs & | args = rclcpp::executor::create_default_executor_arguments() | ) |
Default constructor. See the default constructor for Executor.
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virtual |
Default destrcutor.
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virtual |
Single-threaded implementation of spin.
Implements rclcpp::executor::Executor.