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rclcpp::executors::MultiThreadedExecutor Class Reference

#include <multi_threaded_executor.hpp>

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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::Contextcontext_
 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
argscommon arguments for all executors
number_of_threadsnumber of threads to have in the thread pool, the default 0 will use the number of cpu cores found instead
yield_before_executeif 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: