rclcpp::executors::StaticExecutorEntitiesCollector Class Reference

#include <static_executor_entities_collector.hpp>

Inheritance diagram for rclcpp::executors::StaticExecutorEntitiesCollector:

Collaboration diagram for rclcpp::executors::StaticExecutorEntitiesCollector:

Public Member Functions
	StaticExecutorEntitiesCollector ()=default
	~StaticExecutorEntitiesCollector ()
void	init (rcl_wait_set_t *p_wait_set, rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy, rcl_guard_condition_t *executor_guard_condition)
	Initialize StaticExecutorEntitiesCollector. More...
bool	is_init ()
	Finalize StaticExecutorEntitiesCollector to clear resources. More...
void	fini ()
void	execute (std::shared_ptr< void > &data) override
	Execute the waitable. More...
std::shared_ptr< void >	take_data () override
	Take the data so that it can be consumed with execute. More...
void	refresh_wait_set (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Function to add_handles_to_wait_set and wait for work and. More...
bool	add_to_wait_set (rcl_wait_set_t *wait_set) override
size_t	get_number_of_ready_guard_conditions () override
	Get the number of ready guard_conditions. More...
bool	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Add a callback group to an executor. More...
bool	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)
	Add a callback group to an executor. More...
bool	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr)
	Remove a callback group from the executor. More...
bool	remove_callback_group_from_map (rclcpp::CallbackGroup::SharedPtr group_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)
	Remove a callback group from the executor. More...
bool	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
bool	remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
std::vector< rclcpp::CallbackGroup::WeakPtr >	get_all_callback_groups ()
std::vector< rclcpp::CallbackGroup::WeakPtr >	get_manually_added_callback_groups ()
	Get callback groups that belong to executor. More...
std::vector< rclcpp::CallbackGroup::WeakPtr >	get_automatically_added_callback_groups_from_nodes ()
	Get callback groups that belong to executor. More...
bool	is_ready (rcl_wait_set_t *wait_set) override
	Complete all available queued work without blocking. More...
size_t	get_number_of_timers ()
	Return number of timers. More...
size_t	get_number_of_subscriptions ()
	Return number of subscriptions. More...
size_t	get_number_of_services ()
	Return number of services. More...
size_t	get_number_of_clients ()
	Return number of clients. More...
size_t	get_number_of_waitables ()
	Return number of waitables. More...
rclcpp::SubscriptionBase::SharedPtr	get_subscription (size_t i)
rclcpp::TimerBase::SharedPtr	get_timer (size_t i)
rclcpp::ServiceBase::SharedPtr	get_service (size_t i)
rclcpp::ClientBase::SharedPtr	get_client (size_t i)
rclcpp::Waitable::SharedPtr	get_waitable (size_t i)
Public Member Functions inherited from rclcpp::Waitable
virtual	~Waitable ()=default
virtual size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...
virtual size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...
virtual size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...
virtual size_t	get_number_of_ready_events ()
	Get the number of ready events. More...
virtual size_t	get_number_of_ready_services ()
	Get the number of ready services. More...
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...
Public Member Functions inherited from std::enable_shared_from_this< StaticExecutorEntitiesCollector >
T	enable_shared_from_this (T... args)
T	operator= (T... args)
T	shared_from_this (T... args)
T	~enable_shared_from_this (T... args)

Constructor & Destructor Documentation

StaticExecutorEntitiesCollector()

rclcpp::executors::StaticExecutorEntitiesCollector::StaticExecutorEntitiesCollector ( )

default

~StaticExecutorEntitiesCollector()

rclcpp::executors::StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector

(

)

Member Function Documentation

init()

void rclcpp::executors::StaticExecutorEntitiesCollector::init	(	rcl_wait_set_t *	p_wait_set,
		rclcpp::memory_strategy::MemoryStrategy::SharedPtr	memory_strategy,
		rcl_guard_condition_t *	executor_guard_condition
	)

Initialize StaticExecutorEntitiesCollector.

Parameters

p_wait_set	A reference to the wait set to be used in the executor
memory_strategy	Shared pointer to the memory strategy to set.
executor_guard_condition	executor's guard condition

Exceptions

std::runtime_error

if memory strategy is null

is_init()

bool rclcpp::executors::StaticExecutorEntitiesCollector::is_init ( )

inline

Finalize StaticExecutorEntitiesCollector to clear resources.

fini()

void rclcpp::executors::StaticExecutorEntitiesCollector::fini

(

)

execute()

void rclcpp::executors::StaticExecutorEntitiesCollector::execute ( std::shared_ptr< void > &  data )

overridevirtual

Execute the waitable.

Implements rclcpp::Waitable.

take_data()

std::shared_ptr<void> rclcpp::executors::StaticExecutorEntitiesCollector::take_data ( )

overridevirtual

Take the data so that it can be consumed with execute.

For StaticExecutorEntitiesCollector, this always return nullptr.

See also

rclcpp::Waitable::take_data()

Implements rclcpp::Waitable.

refresh_wait_set()

void rclcpp::executors::StaticExecutorEntitiesCollector::refresh_wait_set

(

std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Function to add_handles_to_wait_set and wait for work and.

block until the wait set is ready or until the timeout has been exceeded.

Exceptions

std::runtime_error	if wait set couldn't be cleared or filled.
any	rcl errors from rcl_wait,

See also

rclcpp::exceptions::throw_from_rcl_error()

add_to_wait_set()

bool rclcpp::executors::StaticExecutorEntitiesCollector::add_to_wait_set ( rcl_wait_set_t *  wait_set )

overridevirtual

Exceptions

std::runtime_error

if it couldn't add guard condition to wait set

Implements rclcpp::Waitable.

get_number_of_ready_guard_conditions()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_ready_guard_conditions ( )

overridevirtual

Get the number of ready guard_conditions.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more guard_conditions.

Returns

The number of guard_conditions associated with the Waitable.

Reimplemented from rclcpp::Waitable.

add_callback_group() [1/2]

bool rclcpp::executors::StaticExecutorEntitiesCollector::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr
	)

Add a callback group to an executor.

See also

rclcpp::Executor::add_callback_group

add_callback_group() [2/2]

bool rclcpp::executors::StaticExecutorEntitiesCollector::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

Add a callback group to an executor.

See also

rclcpp::Executor::add_callback_group

Returns

boolean whether the node from the callback group is new

remove_callback_group()

bool rclcpp::executors::StaticExecutorEntitiesCollector::remove_callback_group

(

rclcpp::CallbackGroup::SharedPtr

group_ptr

)

Remove a callback group from the executor.

See also

rclcpp::Executor::remove_callback_group

remove_callback_group_from_map()

bool rclcpp::executors::StaticExecutorEntitiesCollector::remove_callback_group_from_map	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

Remove a callback group from the executor.

See also

rclcpp::Executor::remove_callback_group_from_map

add_node()

bool rclcpp::executors::StaticExecutorEntitiesCollector::add_node

(

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

node_ptr

)

See also

rclcpp::Executor::add_node()

Exceptions

std::runtime_error

if node was already added

remove_node()

bool rclcpp::executors::StaticExecutorEntitiesCollector::remove_node

(

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

node_ptr

)

See also

rclcpp::Executor::remove_node()

Exceptions

std::runtime_error

if no guard condition is associated with node.

get_all_callback_groups()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticExecutorEntitiesCollector::get_all_callback_groups

(

)

get_manually_added_callback_groups()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticExecutorEntitiesCollector::get_manually_added_callback_groups

(

)

Get callback groups that belong to executor.

See also

rclcpp::Executor::get_manually_added_callback_groups()

get_automatically_added_callback_groups_from_nodes()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes

(

)

Get callback groups that belong to executor.

See also

rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()

is_ready()

bool rclcpp::executors::StaticExecutorEntitiesCollector::is_ready ( rcl_wait_set_t *  wait_set )

overridevirtual

Complete all available queued work without blocking.

This function checks if after the guard condition was triggered (or a spurious wakeup happened) we are really ready to execute i.e. re-collect entities

Implements rclcpp::Waitable.

get_number_of_timers()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_timers ( )

inline

Return number of timers.

Returns

number of timers

get_number_of_subscriptions()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_subscriptions ( )

inline

Return number of subscriptions.

Returns

number of subscriptions

get_number_of_services()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_services ( )

inline

Return number of services.

Returns

number of services

get_number_of_clients()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_clients ( )

inline

Return number of clients.

Returns

number of clients

get_number_of_waitables()

size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_waitables ( )

inline

Return number of waitables.

Returns

number of waitables

get_subscription()

rclcpp::SubscriptionBase::SharedPtr rclcpp::executors::StaticExecutorEntitiesCollector::get_subscription ( size_t  i )

inline

Return a SubscritionBase Sharedptr by index.

Parameters

[in]

i

The index of the SubscritionBase

Returns

a SubscritionBase shared pointer

Exceptions

std::out_of_range

if the argument is higher than the size of the structrue.

get_timer()

rclcpp::TimerBase::SharedPtr rclcpp::executors::StaticExecutorEntitiesCollector::get_timer ( size_t  i )

inline

Return a TimerBase Sharedptr by index.

Parameters

[in]

i

The index of the TimerBase

Returns

a TimerBase shared pointer

Exceptions

std::out_of_range

if the argument is higher than the size.

get_service()

rclcpp::ServiceBase::SharedPtr rclcpp::executors::StaticExecutorEntitiesCollector::get_service ( size_t  i )

inline

Return a ServiceBase Sharedptr by index.

Parameters

[in]

i

The index of the ServiceBase

Returns

a ServiceBase shared pointer

Exceptions

std::out_of_range

if the argument is higher than the size.

get_client()

rclcpp::ClientBase::SharedPtr rclcpp::executors::StaticExecutorEntitiesCollector::get_client ( size_t  i )

inline

Return a ClientBase Sharedptr by index

Parameters

[in]

i

The index of the ClientBase

Returns

a ClientBase shared pointer

Exceptions

std::out_of_range

if the argument is higher than the size.

get_waitable()

rclcpp::Waitable::SharedPtr rclcpp::executors::StaticExecutorEntitiesCollector::get_waitable ( size_t  i )

inline

Return a Waitable Sharedptr by index

Parameters

[in]

i

The index of the Waitable

Returns

a Waitable shared pointer

Exceptions

std::out_of_range

if the argument is higher than the size.

---

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

• include/rclcpp/executors/static_executor_entities_collector.hpp