Static executor implementation. More...

#include <static_single_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::StaticSingleThreadedExecutor:

Collaboration diagram for rclcpp::executors::StaticSingleThreadedExecutor:

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

virtual	~StaticSingleThreadedExecutor ()
	Default destrcutor. More...

void	spin () override
	Static executor implementation of spin. More...

void	spin_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0)) override
	Static executor implementation of spin some. More...

void	spin_all (std::chrono::nanoseconds max_duration) override
	Static executor implementation of spin all. More...

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

void	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify=true) override
	Remove callback group from the executor. More...

void	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override
	Add a node to the executor. More...

void	add_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override
	Convenience function which takes Node and forwards NodeBaseInterface. More...

void	remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override
	Remove a node from the executor. More...

void	remove_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override
	Convenience function which takes Node and forwards NodeBaseInterface. More...

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

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

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

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

virtual	~Executor ()
	Default destructor. 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_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
bool	execute_ready_executables (bool spin_once=false)
	Executes ready executables from wait set. More...

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

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

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...

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...

Detailed Description

Static executor implementation.

This executor is a static version of the original single threaded executor. It's static because it doesn't reconstruct the executable list for every iteration. All nodes, callbackgroups, timers, subscriptions etc. are created before spin() is called, and modified only when an entity is added/removed to/from a node.

To run this executor instead of SingleThreadedExecutor replace: rclcpp::executors::SingleThreadedExecutor exec; by rclcpp::executors::StaticSingleThreadedExecutor exec; in your source code and spin node(s) in the following way: exec.add_node(node); exec.spin(); exec.remove_node(node);

Constructor & Destructor Documentation

◆ StaticSingleThreadedExecutor()

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

explicit

Default constructor. See the default constructor for Executor.

◆ ~StaticSingleThreadedExecutor()

virtual rclcpp::executors::StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor ( )

virtual

Default destrcutor.

Member Function Documentation

◆ spin()

void rclcpp::executors::StaticSingleThreadedExecutor::spin ( )

overridevirtual

Static executor implementation of spin.

This function will block until work comes in, execute it, and keep blocking. It will only be interrupted by a CTRL-C (managed by the global signal handler).

Exceptions

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

Implements rclcpp::Executor.

◆ spin_some()

void rclcpp::executors::StaticSingleThreadedExecutor::spin_some ( std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0) )

overridevirtual

Static executor implementation of spin some.

This non-blocking function will execute entities that were ready when this API was called, until timeout or no more work available. Entities that got ready while executing work, won't be taken into account here.

Example: while(condition) { spin_some(); sleep(); // User should have some sync work or // sleep to avoid a 100% CPU usage }

Reimplemented from rclcpp::Executor.

◆ spin_all()

void rclcpp::executors::StaticSingleThreadedExecutor::spin_all ( std::chrono::nanoseconds max_duration )

overridevirtual

Static executor implementation of spin all.

This non-blocking function will execute entities until timeout or no more work available. If new entities get ready while executing work available, they will be executed as long as the timeout hasn't expired.

Example: while(condition) { spin_all(); sleep(); // User should have some sync work or // sleep to avoid a 100% CPU usage }

Reimplemented from rclcpp::Executor.

◆ add_callback_group()

void rclcpp::executors::StaticSingleThreadedExecutor::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Add a callback group to an executor.

See also: rclcpp::Executor::add_callback_group

Reimplemented from rclcpp::Executor.

◆ remove_callback_group()

void rclcpp::executors::StaticSingleThreadedExecutor::remove_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		bool	notify = `true`
	)

overridevirtual

Remove callback group from the executor.

See also: rclcpp::Executor::remove_callback_group

Reimplemented from rclcpp::Executor.

◆ add_node() [1/2]

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

overridevirtual

Add a node to the executor.

See also: rclcpp::Executor::add_node

Reimplemented from rclcpp::Executor.

◆ add_node() [2/2]

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

overridevirtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::StaticSingleThreadedExecutor::add_node

Reimplemented from rclcpp::Executor.

◆ remove_node() [1/2]

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

overridevirtual

Remove a node from the executor.

See also: rclcpp::Executor::remove_node

Reimplemented from rclcpp::Executor.

◆ remove_node() [2/2]

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

overridevirtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::remove_node

Reimplemented from rclcpp::Executor.

◆ get_all_callback_groups()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticSingleThreadedExecutor::get_all_callback_groups ( )

overridevirtual

Get callback groups that belong to executor.

This function returns a vector of weak pointers that point to callback groups that were associated with the executor. The callback groups associated with this executor may have been added with add_callback_group, or added when a node was added to the executor with add_node, or automatically added when it created by a node already associated with this executor and the automatically_add_to_executor_with_node parameter was true.

Returns: a vector of weak pointers that point to callback groups that are associated with the executor

Reimplemented from rclcpp::Executor.

◆ get_manually_added_callback_groups()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticSingleThreadedExecutor::get_manually_added_callback_groups ( )

overridevirtual

Get callback groups that belong to executor.

See also: rclcpp::Executor::get_manually_added_callback_groups()

Reimplemented from rclcpp::Executor.

◆ get_automatically_added_callback_groups_from_nodes()

std::vector<rclcpp::CallbackGroup::WeakPtr> rclcpp::executors::StaticSingleThreadedExecutor::get_automatically_added_callback_groups_from_nodes ( )

overridevirtual

Get callback groups that belong to executor.

See also: rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()

Reimplemented from rclcpp::Executor.

◆ execute_ready_executables()

bool rclcpp::executors::StaticSingleThreadedExecutor::execute_ready_executables ( bool spin_once = false )

protected

Executes ready executables from wait set.

Parameters

spin_once if true executes only the first ready executable.

Returns: true if any executable was ready.

◆ spin_some_impl()

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

protected

◆ spin_once_impl()

void rclcpp::executors::StaticSingleThreadedExecutor::spin_once_impl ( std::chrono::nanoseconds timeout )

overrideprotectedvirtual

Reimplemented from rclcpp::Executor.

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

include/rclcpp/executors/static_single_threaded_executor.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StaticSingleThreadedExecutor()

◆ ~StaticSingleThreadedExecutor()

Member Function Documentation

◆ spin()

◆ spin_some()

◆ spin_all()

◆ add_callback_group()

◆ remove_callback_group()

◆ add_node() [1/2]

◆ add_node() [2/2]

◆ remove_node() [1/2]

◆ remove_node() [2/2]

◆ get_all_callback_groups()

◆ get_manually_added_callback_groups()

◆ get_automatically_added_callback_groups_from_nodes()

◆ execute_ready_executables()

◆ spin_some_impl()

◆ spin_once_impl()