#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...

void	execute () override
	Execute any entities of the Waitable that are ready. More...

void	fill_memory_strategy ()

void	fill_executable_list ()

void	prepare_wait_set ()
	Function to reallocate space for entities in the wait set. 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...

void	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)

bool	remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)

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

◆ execute()

void rclcpp::executors::StaticExecutorEntitiesCollector::execute ( )

overridevirtual

Execute any entities of the Waitable that are ready.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
bool add_ret = waitable.add_to_wait_set(wait_set);
// ... error handling
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
waitable.execute();

Implements rclcpp::Waitable.

◆ fill_memory_strategy()

void rclcpp::executors::StaticExecutorEntitiesCollector::fill_memory_strategy ( )

◆ fill_executable_list()

void rclcpp::executors::StaticExecutorEntitiesCollector::fill_executable_list ( )

◆ prepare_wait_set()

void rclcpp::executors::StaticExecutorEntitiesCollector::prepare_wait_set ( )

Function to reallocate space for entities in the wait set.

Exceptions

std::runtime_error if wait set couldn't be cleared or resized.

◆ 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_node()

void 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.

◆ 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

Public Member Functions

Constructor & Destructor Documentation

◆ StaticExecutorEntitiesCollector()

◆ ~StaticExecutorEntitiesCollector()

Member Function Documentation

◆ init()

◆ execute()

◆ fill_memory_strategy()

◆ fill_executable_list()

◆ prepare_wait_set()

◆ refresh_wait_set()

◆ add_to_wait_set()

◆ get_number_of_ready_guard_conditions()

◆ add_node()

◆ remove_node()

◆ is_ready()

◆ get_number_of_timers()

◆ get_number_of_subscriptions()

◆ get_number_of_services()

◆ get_number_of_clients()

◆ get_number_of_waitables()

◆ get_subscription()

◆ get_timer()

◆ get_service()

◆ get_client()

◆ get_waitable()