#include <multi_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::MultiThreadedExecutor:

Collaboration diagram for rclcpp::executors::MultiThreadedExecutor:

Public Member Functions
	MultiThreadedExecutor (const executor::ExecutorArgs &args=executor::ExecutorArgs(), size_t number_of_threads=0, bool yield_before_execute=false, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Constructor for MultiThreadedExecutor. More...

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=ExecutorArgs())
	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 RepT = int64_t, typename T = std::milli>
void	spin_node_once (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::duration< RepT, T > timeout=std::chrono::duration< RepT, 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 RepT = int64_t, typename T = std::milli>
void	spin_node_once (std::shared_ptr< NodeT > node, std::chrono::duration< RepT, T > timeout=std::chrono::duration< RepT, 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 (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0))
	Complete all available queued work without blocking. More...

virtual void	spin_once (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))

template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
FutureReturnCode	spin_until_future_complete (std::shared_future< ResponseT > &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, 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 &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)

bool	get_next_ready_executable (AnyExecutable &any_executable)

bool	get_next_executable (AnyExecutable &any_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_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...

std::mutex	memory_strategy_mutex_

memory_strategy::MemoryStrategy::SharedPtr	memory_strategy_
	The memory strategy: an interface for handling user-defined memory allocation strategies. More...

std::shared_ptr< rclcpp::Context >	context_
	The context associated with this executor. More...

Constructor & Destructor Documentation

◆ MultiThreadedExecutor()

rclcpp::executors::MultiThreadedExecutor::MultiThreadedExecutor	(	const executor::ExecutorArgs &	args = `executor::ExecutorArgs()`,
		size_t	number_of_threads = `0`,
		bool	yield_before_execute = `false`,
		std::chrono::nanoseconds	timeout = `std::chrono::nanoseconds(-1)`
	)

Constructor for MultiThreadedExecutor.

For the yield_before_execute option, when true std::this_thread::yield() will be called after acquiring work (as an AnyExecutable) and releasing the spinning lock, but before executing the work. This is useful for reproducing some bugs related to taking work more than once.

Parameters

args	common arguments for all executors
number_of_threads	number of threads to have in the thread pool, the default 0 will use the number of cpu cores found instead
yield_before_execute	if true std::this_thread::yield() is called

◆ ~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:

include/rclcpp/executors/multi_threaded_executor.hpp

Public Member Functions

Protected Member Functions