Single-threaded executor implementation. More...

#include <single_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::SingleThreadedExecutor:

Collaboration diagram for rclcpp::executors::SingleThreadedExecutor:

[legend]

Public Member Functions
	SingleThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions())
	Default constructor. See the default constructor for Executor. More...

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

void	spin () override
	Single-threaded implementation of spin. More...

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...

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

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...

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...

Detailed Description

Single-threaded executor implementation.

This is the default executor created by rclcpp::spin.

Constructor & Destructor Documentation

◆ SingleThreadedExecutor()

rclcpp::executors::SingleThreadedExecutor::SingleThreadedExecutor ( const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions() )

explicit

Default constructor. See the default constructor for Executor.

◆ ~SingleThreadedExecutor()

virtual rclcpp::executors::SingleThreadedExecutor::~SingleThreadedExecutor ( )

virtual

Default destructor.

Member Function Documentation

◆ spin()

void rclcpp::executors::SingleThreadedExecutor::spin ( )

overridevirtual

Single-threaded implementation of spin.

This function will block until work comes in, execute it, and then repeat the process until canceled. It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c if the associated context is configured to shutdown on SIGINT.

Exceptions

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

Implements rclcpp::Executor.

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

include/rclcpp/executors/single_threaded_executor.hpp