#include <multi_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::MultiThreadedExecutor:

Collaboration diagram for rclcpp::executors::MultiThreadedExecutor:

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Public Member Functions
	MultiThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions(), 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 () override

size_t	get_number_of_threads ()

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

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

virtual void	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true)
	Add a callback group to an executor. More...

virtual std::vector< rclcpp::CallbackGroup::WeakPtr >	get_all_callback_groups ()
	Get callback groups that belong to executor. More...

virtual std::vector< rclcpp::CallbackGroup::WeakPtr >	get_manually_added_callback_groups ()
	Get callback groups that belong to executor. More...

virtual std::vector< rclcpp::CallbackGroup::WeakPtr >	get_automatically_added_callback_groups_from_nodes ()
	Get callback groups that belong to executor. More...

virtual void	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify=true)
	Remove a callback group from the executor. 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))
	Collect work once and execute all available work, optionally within a duration. More...

virtual void	spin_all (std::chrono::nanoseconds max_duration)
	Collect and execute work repeatedly within a duration or until no more work is available. More...

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

template<typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>
FutureReturnCode	spin_until_future_complete (const FutureT &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
void	spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout)

void	spin_some_impl (std::chrono::nanoseconds max_duration, bool exhaustive)

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 (const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, rclcpp::CallbackGroup::SharedPtr group)

bool	has_node (const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes) const
	Return true if the node has been added to this executor. More...

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

virtual void	add_callback_group_to_map (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, bool notify=true) RCPPUTILS_TSA_REQUIRES(mutex_)
	Add a callback group to an executor. More...

virtual void	remove_callback_group_from_map (rclcpp::CallbackGroup::SharedPtr group_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, bool notify=true) RCPPUTILS_TSA_REQUIRES(mutex_)
	Remove a callback group from the executor. More...

bool	get_next_ready_executable (AnyExecutable &any_executable)

bool	get_next_ready_executable_from_map (AnyExecutable &any_executable, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

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

virtual void	add_callback_groups_from_nodes_associated_to_executor () RCPPUTILS_TSA_REQUIRES(mutex_)
	Add all callback groups that can be automatically added from associated nodes. More...

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

virtual void	spin_once_impl (std::chrono::nanoseconds timeout)

WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps nodes to guard conditions More...

WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps callback groups associated to nodes More...

WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps callback groups to nodes associated with executor More...

WeakCallbackGroupsToNodesMap weak_groups_to_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps all callback groups to nodes More...

std::list< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr > weak_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	nodes that are associated with the executor More...

Additional Inherited Members
Protected Types inherited from rclcpp::Executor
typedef std::map< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr, const rcl_guard_condition_t *, std::owner_less< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr > >	WeakNodesToGuardConditionsMap

Static Protected Member Functions inherited from rclcpp::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
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...

std::shared_ptr< rclcpp::GuardCondition >	shutdown_guard_condition_

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	mutex_

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

rclcpp::OnShutdownCallbackHandle	shutdown_callback_handle_
	shutdown callback handle registered to Context More...

Constructor & Destructor Documentation

◆ MultiThreadedExecutor()

rclcpp::executors::MultiThreadedExecutor::MultiThreadedExecutor	(	const rclcpp::ExecutorOptions &	options = `rclcpp::ExecutorOptions()`,
		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

options	common options 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
timeout	maximum time to wait

◆ ~MultiThreadedExecutor()

virtual rclcpp::executors::MultiThreadedExecutor::~MultiThreadedExecutor ( )

virtual

Member Function Documentation

◆ spin()

void rclcpp::executors::MultiThreadedExecutor::spin ( )

overridevirtual

See also: rclcpp::Executor:spin() for more details

Exceptions

std::runtime_error when spin() called while already spinning

Implements rclcpp::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