single_threaded_executor.hpp

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// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
#define RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_

#include <rmw/rmw.h>

#include <cassert>
#include <cstdlib>
#include <memory>
#include <vector>

#include "rclcpp/executor.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/memory_strategies.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/rate.hpp"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{
namespace executors
{

// This is the default executor created by rclcpp::spin.
class SingleThreadedExecutor : public executor::Executor
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)

  
  RCLCPP_PUBLIC
  SingleThreadedExecutor(
    const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments());

  RCLCPP_PUBLIC
  virtual ~SingleThreadedExecutor();

  // This function will block until work comes in, execute it, and keep blocking.
  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
  RCLCPP_PUBLIC
  void
  spin();

private:
  RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
};

}  // namespace executors
}  // namespace rclcpp

#endif  // RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_