rclcpp::executors::StaticSingleThreadedExecutor Class Reference

Static executor implementation. More...

#include <static_single_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::StaticSingleThreadedExecutor:

Collaboration diagram for rclcpp::executors::StaticSingleThreadedExecutor:

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	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...
template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
rclcpp::FutureReturnCode	spin_until_future_complete (std::shared_future< ResponseT > &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...
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_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0))
	Complete all available queued work without blocking. More...
virtual void	spin_once (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
FutureReturnCode	spin_until_future_complete (const std::shared_future< ResponseT > &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
void	execute_ready_executables ()
	Check which executables in ExecutableList struct are ready from wait_set and execute them. More...
Protected Member Functions inherited from rclcpp::Executor
void	spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout)
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 (rclcpp::CallbackGroup::SharedPtr group)
rclcpp::CallbackGroup::SharedPtr	get_group_by_timer (rclcpp::TimerBase::SharedPtr timer)
bool	get_next_ready_executable (AnyExecutable &any_executable)
bool	get_next_executable (AnyExecutable &any_executable, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))

Additional Inherited Members
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...
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	memory_strategy_mutex_
memory_strategy::MemoryStrategy::SharedPtr	memory_strategy_
	The memory strategy: an interface for handling user-defined memory allocation strategies. More...
std::shared_ptr< rclcpp::Context >	context_
	The context associated with this executor. More...
std::list< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr >	weak_nodes_
std::list< const rcl_guard_condition_t * >	guard_conditions_

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.

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.

An executor can have zero or more nodes which provide work during spin functions.

Parameters

[in]	node_ptr	Shared pointer to the node to be added.
[in]	notify	True to trigger the interrupt guard condition during this function. If the executor is blocked at the rmw layer while waiting for work and it is notified that a new node was added, it will wake up.

Exceptions

std::runtime_error

if node was already added or if rcl_trigger_guard_condition return an error

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.

Exceptions

std::runtime_error

if node was already added or if rcl_trigger_guard_condition returns an error

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.

Parameters

[in]	node_ptr	Shared pointer to the node to remove.
[in]	notify	True to trigger the interrupt guard condition and wake up the executor. This is useful if the last node was removed from the executor while the executor was blocked waiting for work in another thread, because otherwise the executor would never be notified.

Exceptions

std::runtime_error

if rcl_trigger_guard_condition returns an error

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.

Exceptions

std::runtime_error

if rcl_trigger_guard_condition returns an error

Reimplemented from rclcpp::Executor.

spin_until_future_complete()

template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>

rclcpp::FutureReturnCode rclcpp::executors::StaticSingleThreadedExecutor::spin_until_future_complete ( std::shared_future< ResponseT > &  future, std::chrono::duration< TimeRepT, TimeT >  timeout = std::chrono::duration<TimeRepT, TimeT>(-1)  )

inline

Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.

Parameters

[in]	future	The future to wait on. If this function returns SUCCESS, the future can be accessed without blocking (though it may still throw an exception).
[in]	timeout	Optional timeout parameter, which gets passed to Executor::execute_ready_executables. -1 is block forever, 0 is non-blocking. If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return code.

Returns

The return code, one of SUCCESS, INTERRUPTED, or TIMEOUT.

Example usage: rclcpp::executors::StaticSingleThreadedExecutor exec; // ... other part of code like creating node // define future exec.add_node(node); exec.spin_until_future_complete(future);

execute_ready_executables()

void rclcpp::executors::StaticSingleThreadedExecutor::execute_ready_executables ( )

protected

Check which executables in ExecutableList struct are ready from wait_set and execute them.

Parameters

[in]	exec_list	Structure that can hold subscriptionbases, timerbases, etc
[in]	timeout	Optional timeout parameter.

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

• include/rclcpp/executors/static_single_threaded_executor.hpp