Inheritance diagram for rclcpp::executors::MultiThreadedExecutor:
Collaboration diagram for rclcpp::executors::MultiThreadedExecutor:
Public Member Functions | |
| RCLCPP_PUBLIC | MultiThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions(), size_t number_of_threads=0, bool yield_before_execute=false, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
| Constructor for MultiThreadedExecutor. More... | |
| RCLCPP_PUBLIC void | spin () override |
| RCLCPP_PUBLIC size_t | get_number_of_threads () |
 Public Member Functions inherited from rclcpp::Executor | |
| RCLCPP_PUBLIC | Executor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions()) |
| Default constructor. More... | |
| virtual RCLCPP_PUBLIC | ~Executor () |
| Default destructor. | |
| virtual RCLCPP_PUBLIC void | add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) |
| Add a callback group to an executor. More... | |
| virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr > | get_all_callback_groups () |
| Get callback groups that belong to executor. More... | |
| virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr > | get_manually_added_callback_groups () |
| Get callback groups that belong to executor. More... | |
| virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr > | get_automatically_added_callback_groups_from_nodes () |
| Get callback groups that belong to executor. More... | |
| virtual RCLCPP_PUBLIC void | remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify=true) |
| Remove a callback group from the executor. More... | |
| virtual RCLCPP_PUBLIC void | add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) |
| Add a node to the executor. More... | |
| virtual RCLCPP_PUBLIC void | add_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) |
| Convenience function which takes Node and forwards NodeBaseInterface. More... | |
| virtual RCLCPP_PUBLIC void | remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) |
| Remove a node from the executor. More... | |
| virtual RCLCPP_PUBLIC void | remove_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) |
| Convenience function which takes Node and forwards NodeBaseInterface. 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. | |
| RCLCPP_PUBLIC void | spin_node_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node) |
| Add a node, complete all immediately available work, and remove the node. More... | |
| RCLCPP_PUBLIC void | spin_node_some (std::shared_ptr< rclcpp::Node > node) |
| Convenience function which takes Node and forwards NodeBaseInterface. | |
| virtual RCLCPP_PUBLIC void | spin_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0)) |
| Collect work once and execute all available work, optionally within a duration. More... | |
| virtual RCLCPP_PUBLIC void | spin_all (std::chrono::nanoseconds max_duration) |
| Collect and execute work repeatedly within a duration or until no more work is available. More... | |
| virtual RCLCPP_PUBLIC 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... | |
| RCLCPP_PUBLIC void | cancel () |
| Cancel any running spin* function, causing it to return. More... | |
| RCLCPP_PUBLIC void | set_memory_strategy (memory_strategy::MemoryStrategy::SharedPtr memory_strategy) |
| Support dynamic switching of the memory strategy. More... | |
| RCLCPP_PUBLIC bool | is_spinning () |
| Returns true if the executor is currently spinning. More... | |
Protected Member Functions | |
| RCLCPP_PUBLIC void | run (size_t this_thread_number) |
| Protected Member Functions inherited from rclcpp::Executor | |
| RCLCPP_PUBLIC void | spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout) |
| RCLCPP_PUBLIC void | spin_some_impl (std::chrono::nanoseconds max_duration, bool exhaustive) |
| RCLCPP_PUBLIC void | execute_any_executable (AnyExecutable &any_exec) |
| Find the next available executable and do the work associated with it. More... | |
| RCLCPP_PUBLIC void | wait_for_work (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
| RCLCPP_PUBLIC rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_by_group (const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, rclcpp::CallbackGroup::SharedPtr group) |
| RCLCPP_PUBLIC 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_PUBLIC rclcpp::CallbackGroup::SharedPtr | get_group_by_timer (rclcpp::TimerBase::SharedPtr timer) |
| virtual RCLCPP_PUBLIC 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 RCLCPP_PUBLIC 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... | |
| RCLCPP_PUBLIC bool | get_next_ready_executable (AnyExecutable &any_executable) |
| RCLCPP_PUBLIC bool | get_next_ready_executable_from_map (AnyExecutable &any_executable, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes) |
| RCLCPP_PUBLIC bool | get_next_executable (AnyExecutable &any_executable, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
| virtual RCLCPP_PUBLIC 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. | |
| virtual RCLCPP_PUBLIC void | spin_once_impl (std::chrono::nanoseconds timeout) |
| WeakCallbackGroupsToGuardConditionsMap weak_groups_to_guard_conditions_ | RCPPUTILS_TSA_GUARDED_BY (mutex_) |
| maps callback groups to guard conditions | |
| WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_ | RCPPUTILS_TSA_GUARDED_BY (mutex_) |
| maps callback groups associated to nodes | |
| WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_ | RCPPUTILS_TSA_GUARDED_BY (mutex_) |
| maps callback groups to nodes associated with executor | |
| WeakCallbackGroupsToNodesMap weak_groups_to_nodes_ | RCPPUTILS_TSA_GUARDED_BY (mutex_) |
| maps all callback groups to nodes | |
| std::list< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr > weak_nodes_ | RCPPUTILS_TSA_GUARDED_BY (mutex_) |
| nodes that are associated with the executor | |
Additional Inherited Members | |
| Protected Types inherited from rclcpp::Executor | |
| typedef std::map< rclcpp::CallbackGroup::WeakPtr, const rclcpp::GuardCondition *, std::owner_less< rclcpp::CallbackGroup::WeakPtr > > | WeakCallbackGroupsToGuardConditionsMap |
| Static Protected Member Functions inherited from rclcpp::Executor | |
| static RCLCPP_PUBLIC void | execute_subscription (rclcpp::SubscriptionBase::SharedPtr subscription) |
| static RCLCPP_PUBLIC void | execute_timer (rclcpp::TimerBase::SharedPtr timer) |
| static RCLCPP_PUBLIC void | execute_service (rclcpp::ServiceBase::SharedPtr service) |
| static RCLCPP_PUBLIC 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. | |
| rclcpp::GuardCondition | interrupt_guard_condition_ |
| Guard condition for signaling the rmw layer to wake up for special events. | |
| 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. | |
| std::mutex | mutex_ |
| std::shared_ptr< rclcpp::Context > | context_ |
| The context associated with this executor. | |
| rclcpp::OnShutdownCallbackHandle | shutdown_callback_handle_ |
| shutdown callback handle registered to Context | |
Detailed Description
Definition at line 35 of file multi_threaded_executor.hpp.
Constructor & Destructor Documentation
◆ MultiThreadedExecutor()
|
explicit |
Constructor for MultiThreadedExecutor.
For the yield_before_execute option, when true std::this_thread::yield() will be called after acquiring work (as an AnyExecutable) and releasing the spinning lock, but before executing the work. This is useful for reproducing some bugs related to taking work more than once.
- Parameters
-
options common options for all executors number_of_threads number of threads to have in the thread pool, the default 0 will use the number of cpu cores found instead yield_before_execute if true std::this_thread::yield() is called timeout maximum time to wait
Definition at line 28 of file multi_threaded_executor.cpp.
Member Function Documentation
◆ spin()
|
overridevirtual |
- See also
- rclcpp::Executor:spin() for more details
- Exceptions
-
std::runtime_error when spin() called while already spinning
Implements rclcpp::Executor.
Definition at line 46 of file multi_threaded_executor.cpp.
References rclcpp::Executor::spinning.
The documentation for this class was generated from the following files:
- rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
- rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
