Inheritance diagram for rclcpp::executors::StaticExecutorEntitiesCollector:

Collaboration diagram for rclcpp::executors::StaticExecutorEntitiesCollector:

Public Member Functions
RCLCPP_PUBLIC void	init (rcl_wait_set_t *p_wait_set, rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
	Initialize StaticExecutorEntitiesCollector. More...

RCLCPP_PUBLIC bool	is_init ()
	Finalize StaticExecutorEntitiesCollector to clear resources.

RCLCPP_PUBLIC void	fini ()

RCLCPP_PUBLIC void	execute (std::shared_ptr< void > &data) override
	Execute the waitable.

RCLCPP_PUBLIC std::shared_ptr< void >	take_data () override
	Take the data so that it can be consumed with `execute`. More...

RCLCPP_PUBLIC 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...

RCLCPP_PUBLIC void	add_to_wait_set (rcl_wait_set_t *wait_set) override

RCLCPP_PUBLIC size_t	get_number_of_ready_guard_conditions () override
	Get the number of ready guard_conditions. More...

RCLCPP_PUBLIC bool	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Add a callback group to an executor. More...

RCLCPP_PUBLIC bool	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)
	Add a callback group to an executor. More...

RCLCPP_PUBLIC bool	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr)
	Remove a callback group from the executor. More...

RCLCPP_PUBLIC bool	remove_callback_group_from_map (rclcpp::CallbackGroup::SharedPtr group_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)
	Remove a callback group from the executor. More...

RCLCPP_PUBLIC bool	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)

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

RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_all_callback_groups ()

RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_manually_added_callback_groups ()
	Get callback groups that belong to executor. More...

RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_automatically_added_callback_groups_from_nodes ()
	Get callback groups that belong to executor. More...

RCLCPP_PUBLIC bool	is_ready (rcl_wait_set_t *wait_set) override
	Complete all available queued work without blocking. More...

RCLCPP_PUBLIC size_t	get_number_of_timers ()
	Return number of timers. More...

RCLCPP_PUBLIC size_t	get_number_of_subscriptions ()
	Return number of subscriptions. More...

RCLCPP_PUBLIC size_t	get_number_of_services ()
	Return number of services. More...

RCLCPP_PUBLIC size_t	get_number_of_clients ()
	Return number of clients. More...

RCLCPP_PUBLIC size_t	get_number_of_waitables ()
	Return number of waitables. More...

RCLCPP_PUBLIC rclcpp::SubscriptionBase::SharedPtr	get_subscription (size_t i)

RCLCPP_PUBLIC rclcpp::TimerBase::SharedPtr	get_timer (size_t i)

RCLCPP_PUBLIC rclcpp::ServiceBase::SharedPtr	get_service (size_t i)

RCLCPP_PUBLIC rclcpp::ClientBase::SharedPtr	get_client (size_t i)

RCLCPP_PUBLIC rclcpp::Waitable::SharedPtr	get_waitable (size_t i)

Public Member Functions inherited from rclcpp::Waitable
virtual RCLCPP_PUBLIC size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_events ()
	Get the number of ready events. More...

virtual RCLCPP_PUBLIC size_t	get_number_of_ready_services ()
	Get the number of ready services. More...

virtual RCLCPP_PUBLIC std::shared_ptr< void >	take_data_by_entity_id (size_t id)
	Take the data so that it can be consumed with `execute`. More...

RCLCPP_PUBLIC bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...

virtual RCLCPP_PUBLIC void	set_on_ready_callback (std::function< void(size_t, int)> callback)
	Set a callback to be called whenever the waitable becomes ready. More...

virtual RCLCPP_PUBLIC void	clear_on_ready_callback ()
	Unset any callback registered via set_on_ready_callback. More...

Detailed Description

Definition at line 41 of file static_executor_entities_collector.hpp.

Member Function Documentation

◆ add_callback_group() [1/2]

bool StaticExecutorEntitiesCollector::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr
	)

Add a callback group to an executor.

See also: rclcpp::Executor::add_callback_group

Definition at line 343 of file static_executor_entities_collector.cpp.

◆ add_callback_group() [2/2]

bool StaticExecutorEntitiesCollector::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)

Add a callback group to an executor.

See also: rclcpp::Executor::add_callback_group

Returns: boolean whether the node from the callback group is new

Definition at line 315 of file static_executor_entities_collector.cpp.

◆ add_node()

bool 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

Definition at line 287 of file static_executor_entities_collector.cpp.

◆ add_to_wait_set()

void 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.

Definition at line 271 of file static_executor_entities_collector.cpp.

◆ get_automatically_added_callback_groups_from_nodes()

std::vector< rclcpp::CallbackGroup::WeakPtr > StaticExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes ( )

Get callback groups that belong to executor.

See also: rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()

Definition at line 517 of file static_executor_entities_collector.cpp.

◆ get_client()

RCLCPP_PUBLIC 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.

Definition at line 275 of file static_executor_entities_collector.hpp.

◆ get_manually_added_callback_groups()

std::vector< rclcpp::CallbackGroup::WeakPtr > StaticExecutorEntitiesCollector::get_manually_added_callback_groups ( )

Get callback groups that belong to executor.

See also: rclcpp::Executor::get_manually_added_callback_groups()

Definition at line 507 of file static_executor_entities_collector.cpp.

◆ get_number_of_clients()

RCLCPP_PUBLIC size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_clients ( )

inline

Return number of clients.

Returns: number of clients

Definition at line 231 of file static_executor_entities_collector.hpp.

◆ get_number_of_ready_guard_conditions()

size_t 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.

Definition at line 280 of file static_executor_entities_collector.cpp.

◆ get_number_of_services()

RCLCPP_PUBLIC size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_services ( )

inline

Return number of services.

Returns: number of services

Definition at line 223 of file static_executor_entities_collector.hpp.

◆ get_number_of_subscriptions()

RCLCPP_PUBLIC size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_subscriptions ( )

inline

Return number of subscriptions.

Returns: number of subscriptions

Definition at line 215 of file static_executor_entities_collector.hpp.

◆ get_number_of_timers()

RCLCPP_PUBLIC size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_timers ( )

inline

Return number of timers.

Returns: number of timers

Definition at line 207 of file static_executor_entities_collector.hpp.

◆ get_number_of_waitables()

RCLCPP_PUBLIC size_t rclcpp::executors::StaticExecutorEntitiesCollector::get_number_of_waitables ( )

inline

Return number of waitables.

Returns: number of waitables

Definition at line 239 of file static_executor_entities_collector.hpp.

◆ get_service()

RCLCPP_PUBLIC 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.

Definition at line 266 of file static_executor_entities_collector.hpp.

◆ get_subscription()

RCLCPP_PUBLIC 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.

Definition at line 248 of file static_executor_entities_collector.hpp.

◆ get_timer()

RCLCPP_PUBLIC 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.

Definition at line 257 of file static_executor_entities_collector.hpp.

◆ get_waitable()

RCLCPP_PUBLIC 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.

Definition at line 284 of file static_executor_entities_collector.hpp.

◆ init()

void StaticExecutorEntitiesCollector::init	(	rcl_wait_set_t *	p_wait_set,
		rclcpp::memory_strategy::MemoryStrategy::SharedPtr	memory_strategy
	)

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.

Exceptions

std::runtime_error if memory strategy is null

Definition at line 63 of file static_executor_entities_collector.cpp.

References execute().

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◆ is_ready()

bool 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.

Definition at line 434 of file static_executor_entities_collector.cpp.

References rcl_wait_set_s::guard_conditions, and rcl_wait_set_s::size_of_guard_conditions.

◆ refresh_wait_set()

void 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()

Definition at line 245 of file static_executor_entities_collector.cpp.

References RCL_RET_OK, RCL_RET_TIMEOUT, RCL_RET_WAIT_SET_EMPTY, rcl_wait(), and rcl_wait_set_clear().

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◆ remove_callback_group()

bool StaticExecutorEntitiesCollector::remove_callback_group ( rclcpp::CallbackGroup::SharedPtr group_ptr )

Remove a callback group from the executor.

See also: rclcpp::Executor::remove_callback_group

Definition at line 351 of file static_executor_entities_collector.cpp.

References remove_callback_group_from_map().

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◆ remove_callback_group_from_map()

bool StaticExecutorEntitiesCollector::remove_callback_group_from_map	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)