Coordinate the order and timing of available communication tasks. More...

#include <executor.hpp>

Inheritance diagram for rclcpp::Executor:

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Collaboration diagram for rclcpp::Executor:

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Public Member Functions
	Executor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions())
	Default constructor. More...

virtual	~Executor ()
	Default destructor. More...

virtual void	spin ()=0
	Do work periodically as it becomes available to us. Blocking call, may block indefinitely. 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 (const 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	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::CallbackGroup::SharedPtr group)

rclcpp::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))

Static Protected Member Functions
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
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...

std::list< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr >	weak_nodes_

std::list< const rcl_guard_condition_t * >	guard_conditions_

Detailed Description

Coordinate the order and timing of available communication tasks.

Executor provides spin functions (including spin_node_once and spin_some). It coordinates the nodes and callback groups by looking for available work and completing it, based on the threading or concurrency scheme provided by the subclass implementation. An example of available work is executing a subscription callback, or a timer callback. The executor structure allows for a decoupling of the communication graph and the execution model. See SingleThreadedExecutor and MultiThreadedExecutor for examples of execution paradigms.

Constructor & Destructor Documentation

◆ Executor()

rclcpp::Executor::Executor ( const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions() )

explicit

Default constructor.

Parameters

[in] options Options used to configure the executor.

◆ ~Executor()

virtual rclcpp::Executor::~Executor ( )

virtual

Default destructor.

Member Function Documentation

◆ spin()

virtual void rclcpp::Executor::spin ( )

pure virtual

Do work periodically as it becomes available to us. Blocking call, may block indefinitely.

Implemented in rclcpp::executors::StaticSingleThreadedExecutor, rclcpp::executors::MultiThreadedExecutor, and rclcpp::executors::SingleThreadedExecutor.

◆ add_node() [1/2]

virtual void rclcpp::Executor::add_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

virtual

Add a node to the executor.

An executor can have zero or more nodes which provide work during spin functions.

Parameters

[in]	node_ptr	Shared pointer to the node to be added.
[in]	notify	True to trigger the interrupt guard condition during this function. If the executor is blocked at the rmw layer while waiting for work and it is notified that a new node was added, it will wake up.

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

◆ add_node() [2/2]

virtual void rclcpp::Executor::add_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

virtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::add_node

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

◆ remove_node() [1/2]

virtual void rclcpp::Executor::remove_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

virtual

Remove a node from the executor.

Parameters

[in]	node_ptr	Shared pointer to the node to remove.
[in]	notify	True to trigger the interrupt guard condition and wake up the executor. This is useful if the last node was removed from the executor while the executor was blocked waiting for work in another thread, because otherwise the executor would never be notified.

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

◆ remove_node() [2/2]

virtual void rclcpp::Executor::remove_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

virtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::remove_node

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

◆ spin_node_once() [1/2]

template<typename RepT = int64_t, typename T = std::milli>

void rclcpp::Executor::spin_node_once	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node,
		std::chrono::duration< RepT, T >	timeout = `std::chrono::duration<RepT, T>(-1)`
	)

inline

Add a node to executor, execute the next available unit of work, and remove the node.

Parameters

[in]	node	Shared pointer to the node to add.
[in]	timeout	How long to wait for work to become available. Negative values cause spin_node_once to block indefinitely (the default behavior). A timeout of 0 causes this function to be non-blocking.

◆ spin_node_once() [2/2]

template<typename NodeT = rclcpp::Node, typename RepT = int64_t, typename T = std::milli>

void rclcpp::Executor::spin_node_once	(	std::shared_ptr< NodeT >	node,
		std::chrono::duration< RepT, T >	timeout = `std::chrono::duration<RepT, T>(-1)`
	)

inline

Convenience function which takes Node and forwards NodeBaseInterface.

◆ spin_node_some() [1/2]

void rclcpp::Executor::spin_node_some ( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node )

Add a node, complete all immediately available work, and remove the node.

Parameters

[in] node Shared pointer to the node to add.

◆ spin_node_some() [2/2]

void rclcpp::Executor::spin_node_some ( std::shared_ptr< rclcpp::Node > node )

Convenience function which takes Node and forwards NodeBaseInterface.

◆ spin_some()

virtual void rclcpp::Executor::spin_some ( std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0) )

virtual

Complete all available queued work without blocking.

This function can be overridden. The default implementation is suitable for a single-threaded model of execution. Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function to block (which may have unintended consequences).

Parameters

[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit. Note that spin_some() may take longer than this time as it only returns once max_duration has been exceeded.

◆ spin_once()

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

virtual

◆ spin_until_future_complete()

template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>

FutureReturnCode rclcpp::Executor::spin_until_future_complete	(	const std::shared_future< ResponseT > &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = `std::chrono::duration<TimeRepT, TimeT>(-1)`
	)

inline

Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.

Parameters

[in]	future	The future to wait on. If this function returns SUCCESS, the future can be accessed without blocking (though it may still throw an exception).
[in]	timeout	Optional timeout parameter, which gets passed to Executor::spin_node_once. `-1` is block forever, `0` is non-blocking. If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return code.

Returns: The return code, one of SUCCESS, INTERRUPTED, or TIMEOUT.

◆ cancel()

void rclcpp::Executor::cancel ( )

Cancel any running spin* function, causing it to return.

This function can be called asynchonously from any thread.

Exceptions

std::runtime_error if there is an issue triggering the guard condition

◆ set_memory_strategy()

void rclcpp::Executor::set_memory_strategy ( memory_strategy::MemoryStrategy::SharedPtr memory_strategy )

Support dynamic switching of the memory strategy.

Switching the memory strategy while the executor is spinning in another threading could have unintended consequences.

Parameters

[in] memory_strategy Shared pointer to the memory strategy to set.

Exceptions

std::runtime_error if memory_strategy is null

◆ spin_node_once_nanoseconds()

void rclcpp::Executor::spin_node_once_nanoseconds	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node,
		std::chrono::nanoseconds	timeout
	)

protected

◆ execute_any_executable()

void rclcpp::Executor::execute_any_executable ( AnyExecutable & any_exec )

protected

Find the next available executable and do the work associated with it.

Parameters

[in] any_exec Union structure that can hold any executable type (timer, subscription, service, client).

Exceptions

std::runtime_error if there is an issue triggering the guard condition

◆ execute_subscription()

static void rclcpp::Executor::execute_subscription ( rclcpp::SubscriptionBase::SharedPtr subscription )

staticprotected

◆ execute_timer()

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

staticprotected

◆ execute_service()

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

staticprotected

◆ execute_client()

static void rclcpp::Executor::execute_client ( rclcpp::ClientBase::SharedPtr client )

staticprotected

◆ wait_for_work()

void rclcpp::Executor::wait_for_work ( std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1) )

protected

Exceptions

std::runtime_error if the wait set can be cleared

◆ get_node_by_group()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::Executor::get_node_by_group ( rclcpp::CallbackGroup::SharedPtr group )

protected

◆ get_group_by_timer()

rclcpp::CallbackGroup::SharedPtr rclcpp::Executor::get_group_by_timer ( rclcpp::TimerBase::SharedPtr timer )

protected

◆ get_next_ready_executable()

bool rclcpp::Executor::get_next_ready_executable ( AnyExecutable & any_executable )

protected

◆ get_next_executable()

bool rclcpp::Executor::get_next_executable	(	AnyExecutable &	any_executable,
		std::chrono::nanoseconds	timeout = `std::chrono::nanoseconds(-1)`
	)

protected

Member Data Documentation

◆ spinning

std::atomic_bool rclcpp::Executor::spinning

protected

Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.

◆ interrupt_guard_condition_

rcl_guard_condition_t rclcpp::Executor::interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition()

protected

Guard condition for signaling the rmw layer to wake up for special events.

◆ wait_set_

rcl_wait_set_t rclcpp::Executor::wait_set_ = rcl_get_zero_initialized_wait_set()

protected

Wait set for managing entities that the rmw layer waits on.

◆ memory_strategy_mutex_

std::mutex rclcpp::Executor::memory_strategy_mutex_

protected

◆ memory_strategy_

memory_strategy::MemoryStrategy::SharedPtr rclcpp::Executor::memory_strategy_

protected

The memory strategy: an interface for handling user-defined memory allocation strategies.

◆ context_

std::shared_ptr<rclcpp::Context> rclcpp::Executor::context_

protected

The context associated with this executor.

◆ weak_nodes_

std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> rclcpp::Executor::weak_nodes_

protected

◆ guard_conditions_

std::list<const rcl_guard_condition_t *> rclcpp::Executor::guard_conditions_

protected

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

include/rclcpp/executor.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Executor()

◆ ~Executor()

Member Function Documentation

◆ spin()

◆ add_node() [1/2]

◆ add_node() [2/2]

◆ remove_node() [1/2]

◆ remove_node() [2/2]

◆ spin_node_once() [1/2]

◆ spin_node_once() [2/2]

◆ spin_node_some() [1/2]

◆ spin_node_some() [2/2]

◆ spin_some()

◆ spin_once()

◆ spin_until_future_complete()

◆ cancel()

◆ set_memory_strategy()

◆ spin_node_once_nanoseconds()

◆ execute_any_executable()

◆ execute_subscription()

◆ execute_timer()

◆ execute_service()

◆ execute_client()

◆ wait_for_work()

◆ get_node_by_group()

◆ get_group_by_timer()

◆ get_next_ready_executable()

◆ get_next_executable()

Member Data Documentation

◆ spinning

◆ interrupt_guard_condition_

◆ wait_set_

◆ memory_strategy_mutex_

◆ memory_strategy_

◆ context_

◆ weak_nodes_

◆ guard_conditions_