Delegate for handling memory allocations while the Executor is executing. More...

#include <memory_strategy.hpp>

Inheritance diagram for rclcpp::memory_strategy::MemoryStrategy:

Public Types
using	WeakCallbackGroupsToNodesMap = std::map< rclcpp::CallbackGroup::WeakPtr, rclcpp::node_interfaces::NodeBaseInterface::WeakPtr, std::owner_less< rclcpp::CallbackGroup::WeakPtr > >

Public Member Functions
virtual	~MemoryStrategy ()=default

virtual bool	collect_entities (const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual size_t	number_of_ready_subscriptions () const =0

virtual size_t	number_of_ready_services () const =0

virtual size_t	number_of_ready_clients () const =0

virtual size_t	number_of_ready_events () const =0

virtual size_t	number_of_ready_timers () const =0

virtual size_t	number_of_guard_conditions () const =0

virtual size_t	number_of_waitables () const =0

virtual void	add_waitable_handle (const rclcpp::Waitable::SharedPtr &waitable)=0

virtual bool	add_handles_to_wait_set (rcl_wait_set_t *wait_set)=0

virtual void	clear_handles ()=0

virtual void	remove_null_handles (rcl_wait_set_t *wait_set)=0

virtual void	add_guard_condition (const rcl_guard_condition_t *guard_condition)=0

virtual void	remove_guard_condition (const rcl_guard_condition_t *guard_condition)=0

virtual void	get_next_subscription (rclcpp::AnyExecutable &any_exec, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual void	get_next_service (rclcpp::AnyExecutable &any_exec, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual void	get_next_client (rclcpp::AnyExecutable &any_exec, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual void	get_next_timer (rclcpp::AnyExecutable &any_exec, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual void	get_next_waitable (rclcpp::AnyExecutable &any_exec, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)=0

virtual rcl_allocator_t	get_allocator ()=0

Static Public Member Functions
static rclcpp::SubscriptionBase::SharedPtr	get_subscription_by_handle (std::shared_ptr< const rcl_subscription_t > subscriber_handle, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::ServiceBase::SharedPtr	get_service_by_handle (std::shared_ptr< const rcl_service_t > service_handle, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::ClientBase::SharedPtr	get_client_by_handle (std::shared_ptr< const rcl_client_t > client_handle, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::TimerBase::SharedPtr	get_timer_by_handle (std::shared_ptr< const rcl_timer_t > timer_handle, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_by_group (rclcpp::CallbackGroup::SharedPtr group, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::CallbackGroup::SharedPtr	get_group_by_subscription (rclcpp::SubscriptionBase::SharedPtr subscription, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::CallbackGroup::SharedPtr	get_group_by_service (rclcpp::ServiceBase::SharedPtr service, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::CallbackGroup::SharedPtr	get_group_by_client (rclcpp::ClientBase::SharedPtr client, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::CallbackGroup::SharedPtr	get_group_by_timer (rclcpp::TimerBase::SharedPtr timer, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

static rclcpp::CallbackGroup::SharedPtr	get_group_by_waitable (rclcpp::Waitable::SharedPtr waitable, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

Detailed Description

Delegate for handling memory allocations while the Executor is executing.

By default, the memory strategy dynamically allocates memory for structures that come in from the rmw implementation after the executor waits for work, based on the number of entities that come through.

Member Typedef Documentation

◆ WeakCallbackGroupsToNodesMap

using rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr, rclcpp::node_interfaces::NodeBaseInterface::WeakPtr, std::owner_less<rclcpp::CallbackGroup::WeakPtr> >

Constructor & Destructor Documentation

◆ ~MemoryStrategy()

virtual rclcpp::memory_strategy::MemoryStrategy::~MemoryStrategy ( )

virtualdefault

Member Function Documentation

◆ collect_entities()

virtual bool rclcpp::memory_strategy::MemoryStrategy::collect_entities ( const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_ready_subscriptions()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_ready_subscriptions ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_ready_services()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_ready_services ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_ready_clients()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_ready_clients ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_ready_events()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_ready_events ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_ready_timers()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_ready_timers ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_guard_conditions()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_guard_conditions ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ number_of_waitables()

virtual size_t rclcpp::memory_strategy::MemoryStrategy::number_of_waitables ( ) const

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ add_waitable_handle()

virtual void rclcpp::memory_strategy::MemoryStrategy::add_waitable_handle ( const rclcpp::Waitable::SharedPtr & waitable )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ add_handles_to_wait_set()

virtual bool rclcpp::memory_strategy::MemoryStrategy::add_handles_to_wait_set ( rcl_wait_set_t * wait_set )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ clear_handles()

virtual void rclcpp::memory_strategy::MemoryStrategy::clear_handles ( )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ remove_null_handles()

virtual void rclcpp::memory_strategy::MemoryStrategy::remove_null_handles ( rcl_wait_set_t * wait_set )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ add_guard_condition()

virtual void rclcpp::memory_strategy::MemoryStrategy::add_guard_condition ( const rcl_guard_condition_t * guard_condition )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ remove_guard_condition()

virtual void rclcpp::memory_strategy::MemoryStrategy::remove_guard_condition ( const rcl_guard_condition_t * guard_condition )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_next_subscription()

virtual void rclcpp::memory_strategy::MemoryStrategy::get_next_subscription	(	rclcpp::AnyExecutable &	any_exec,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_next_service()

virtual void rclcpp::memory_strategy::MemoryStrategy::get_next_service	(	rclcpp::AnyExecutable &	any_exec,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_next_client()

virtual void rclcpp::memory_strategy::MemoryStrategy::get_next_client	(	rclcpp::AnyExecutable &	any_exec,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_next_timer()

virtual void rclcpp::memory_strategy::MemoryStrategy::get_next_timer	(	rclcpp::AnyExecutable &	any_exec,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_next_waitable()

virtual void rclcpp::memory_strategy::MemoryStrategy::get_next_waitable	(	rclcpp::AnyExecutable &	any_exec,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_allocator()

virtual rcl_allocator_t rclcpp::memory_strategy::MemoryStrategy::get_allocator ( )

pure virtual

Implemented in rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy< Alloc >.

◆ get_subscription_by_handle()

static rclcpp::SubscriptionBase::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_subscription_by_handle	(	std::shared_ptr< const rcl_subscription_t >	subscriber_handle,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_service_by_handle()

static rclcpp::ServiceBase::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_service_by_handle	(	std::shared_ptr< const rcl_service_t >	service_handle,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_client_by_handle()

static rclcpp::ClientBase::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_client_by_handle	(	std::shared_ptr< const rcl_client_t >	client_handle,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_timer_by_handle()

static rclcpp::TimerBase::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_timer_by_handle	(	std::shared_ptr< const rcl_timer_t >	timer_handle,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_node_by_group()

static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_node_by_group	(	rclcpp::CallbackGroup::SharedPtr	group,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_group_by_subscription()

static rclcpp::CallbackGroup::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_group_by_subscription	(	rclcpp::SubscriptionBase::SharedPtr	subscription,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_group_by_service()

static rclcpp::CallbackGroup::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_group_by_service	(	rclcpp::ServiceBase::SharedPtr	service,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_group_by_client()

static rclcpp::CallbackGroup::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_group_by_client	(	rclcpp::ClientBase::SharedPtr	client,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_group_by_timer()

static rclcpp::CallbackGroup::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_group_by_timer	(	rclcpp::TimerBase::SharedPtr	timer,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

◆ get_group_by_waitable()

static rclcpp::CallbackGroup::SharedPtr rclcpp::memory_strategy::MemoryStrategy::get_group_by_waitable	(	rclcpp::Waitable::SharedPtr	waitable,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

static

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

include/rclcpp/memory_strategy.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ WeakCallbackGroupsToNodesMap

Constructor & Destructor Documentation

◆ ~MemoryStrategy()

Member Function Documentation

◆ collect_entities()

◆ number_of_ready_subscriptions()

◆ number_of_ready_services()

◆ number_of_ready_clients()

◆ number_of_ready_events()

◆ number_of_ready_timers()

◆ number_of_guard_conditions()

◆ number_of_waitables()

◆ add_waitable_handle()

◆ add_handles_to_wait_set()

◆ clear_handles()

◆ remove_null_handles()

◆ add_guard_condition()

◆ remove_guard_condition()

◆ get_next_subscription()

◆ get_next_service()

◆ get_next_client()

◆ get_next_timer()

◆ get_next_waitable()

◆ get_allocator()

◆ get_subscription_by_handle()

◆ get_service_by_handle()

◆ get_client_by_handle()

◆ get_timer_by_handle()

◆ get_node_by_group()

◆ get_group_by_subscription()

◆ get_group_by_service()

◆ get_group_by_client()

◆ get_group_by_timer()

◆ get_group_by_waitable()