Single-threaded executor implementation. More...
#include <rclcpp/executors/single_threaded_executor.hpp>
Inheritance diagram for rclcpp::executors::SingleThreadedExecutor:
Collaboration diagram for rclcpp::executors::SingleThreadedExecutor:
Public Member Functions | |
| RCLCPP_PUBLIC | SingleThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions()) |
| Default constructor. See the default constructor for Executor. | |
| virtual RCLCPP_PUBLIC | ~SingleThreadedExecutor () |
| Default destructor. | |
| RCLCPP_PUBLIC void | spin () override |
| Single-threaded implementation of spin. More... | |
 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... | |
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 |
| 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 | |
| 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
Single-threaded executor implementation.
This is the default executor created by rclcpp::spin.
Definition at line 42 of file single_threaded_executor.hpp.
Member Function Documentation
◆ spin()
|
overridevirtual |
Single-threaded implementation of spin.
This function will block until work comes in, execute it, and then repeat the process until canceled. It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c if the associated context is configured to shutdown on SIGINT.
- Exceptions
-
std::runtime_error when spin() called while already spinning
Implements rclcpp::Executor.
Definition at line 28 of file single_threaded_executor.cpp.
References rclcpp::Executor::context_, rclcpp::Executor::execute_any_executable(), rclcpp::ok(), and rclcpp::Executor::spinning.
Referenced by rclcpp::spin().
Here is the call graph for this function:
Here is the caller graph for this function:
The documentation for this class was generated from the following files:
- rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
- rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
