Static executor implementation. More...

#include <rclcpp/executors/static_single_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::StaticSingleThreadedExecutor:

Collaboration diagram for rclcpp::executors::StaticSingleThreadedExecutor:

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Public Member Functions
RCLCPP_PUBLIC	StaticSingleThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions())
	Default constructor. See the default constructor for Executor.

virtual RCLCPP_PUBLIC	~StaticSingleThreadedExecutor ()
	Default destrcutor.

RCLCPP_PUBLIC void	spin () override
	Static executor implementation of spin. More...

RCLCPP_PUBLIC void	spin_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0)) override
	Static executor implementation of spin some. More...

RCLCPP_PUBLIC void	spin_all (std::chrono::nanoseconds max_duration) override
	Static executor implementation of spin all. More...

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

RCLCPP_PUBLIC void	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify=true) override
	Remove callback group from the executor. More...

RCLCPP_PUBLIC void	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override
	Add a node to the executor. More...

RCLCPP_PUBLIC void	add_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override
	Convenience function which takes Node and forwards NodeBaseInterface. More...

RCLCPP_PUBLIC void	remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override
	Remove a node from the executor. More...

RCLCPP_PUBLIC void	remove_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override
	Convenience function which takes Node and forwards NodeBaseInterface. More...

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

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

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

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_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 bool	execute_ready_executables (bool spin_once=false)
	Executes ready executables from wait set. More...

RCLCPP_PUBLIC void	spin_some_impl (std::chrono::nanoseconds max_duration, bool exhaustive)

RCLCPP_PUBLIC void	spin_once_impl (std::chrono::nanoseconds timeout) override

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.

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

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);

Definition at line 58 of file static_single_threaded_executor.hpp.

Member Function Documentation

◆ add_callback_group()

void StaticSingleThreadedExecutor::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Add a callback group to an executor.

See also: rclcpp::Executor::add_callback_group

Reimplemented from rclcpp::Executor.

Definition at line 134 of file static_single_threaded_executor.cpp.

References rclcpp::Executor::interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

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◆ add_node() [1/2]

void StaticSingleThreadedExecutor::add_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Add a node to the executor.

See also: rclcpp::Executor::add_node

Reimplemented from rclcpp::Executor.

Definition at line 147 of file static_single_threaded_executor.cpp.

References rclcpp::Executor::interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

Referenced by add_node().

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◆ add_node() [2/2]

void StaticSingleThreadedExecutor::add_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::StaticSingleThreadedExecutor::add_node

Reimplemented from rclcpp::Executor.

Definition at line 158 of file static_single_threaded_executor.cpp.

References add_node().

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◆ execute_ready_executables()

bool StaticSingleThreadedExecutor::execute_ready_executables ( bool spin_once = false )

protected

Executes ready executables from wait set.

Parameters

spin_once if true executes only the first ready executable.

Returns: true if any executable was ready.

Definition at line 213 of file static_single_threaded_executor.cpp.

References rcl_wait_set_s::clients, rcl_wait_set_s::services, rcl_wait_set_s::size_of_clients, rcl_wait_set_s::size_of_services, rcl_wait_set_s::size_of_subscriptions, rcl_wait_set_s::size_of_timers, rcl_wait_set_s::subscriptions, rcl_wait_set_s::timers, and rclcpp::Executor::wait_set_.

Referenced by spin().

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◆ get_all_callback_groups()

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

overridevirtual

Get callback groups that belong to executor.

This function returns a vector of weak pointers that point to callback groups that were associated with the executor. The callback groups associated with this executor may have been added with add_callback_group, or added when a node was added to the executor with add_node, or automatically added when it created by a node already associated with this executor and the automatically_add_to_executor_with_node parameter was true.

Returns: a vector of weak pointers that point to callback groups that are associated with the executor

Reimplemented from rclcpp::Executor.

Definition at line 189 of file static_single_threaded_executor.cpp.

◆ get_automatically_added_callback_groups_from_nodes()

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

overridevirtual

Get callback groups that belong to executor.

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

Reimplemented from rclcpp::Executor.

Definition at line 201 of file static_single_threaded_executor.cpp.

◆ get_manually_added_callback_groups()

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

overridevirtual

Get callback groups that belong to executor.

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

Reimplemented from rclcpp::Executor.

Definition at line 195 of file static_single_threaded_executor.cpp.

◆ remove_callback_group()

void StaticSingleThreadedExecutor::remove_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		bool	notify = `true`
	)

overridevirtual

Remove callback group from the executor.

See also: rclcpp::Executor::remove_callback_group

Reimplemented from rclcpp::Executor.

Definition at line 164 of file static_single_threaded_executor.cpp.

References rclcpp::Executor::interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

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◆ remove_node() [1/2]

void StaticSingleThreadedExecutor::remove_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Remove a node from the executor.

See also: rclcpp::Executor::remove_node

Reimplemented from rclcpp::Executor.

Definition at line 175 of file static_single_threaded_executor.cpp.

References rclcpp::Executor::interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

Referenced by remove_node().

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◆ remove_node() [2/2]

void StaticSingleThreadedExecutor::remove_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

overridevirtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::remove_node

Reimplemented from rclcpp::Executor.

Definition at line 207 of file static_single_threaded_executor.cpp.

References remove_node().

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◆ spin()

void 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.

Definition at line 42 of file static_single_threaded_executor.cpp.

References rclcpp::Executor::context_, execute_ready_executables(), rclcpp::ok(), rclcpp::Executor::spinning, and rclcpp::Executor::wait_set_.

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◆ spin_all()

void StaticSingleThreadedExecutor::spin_all ( std::chrono::nanoseconds max_duration )

overridevirtual

Static executor implementation of spin all.

This non-blocking function will execute entities until timeout (must be >= 0) or no more work available. If timeout is 0, potentially it blocks forever until no more work is available. If new entities get ready while executing work available, they will be executed as long as the timeout hasn't expired.

Example: while(condition) { spin_all(); sleep(); // User should have some sync work or // sleep to avoid a 100% CPU usage }

Reimplemented from rclcpp::Executor.

Definition at line 72 of file static_single_threaded_executor.cpp.

◆ spin_some()

void StaticSingleThreadedExecutor::spin_some ( std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0) )

overridevirtual

Static executor implementation of spin some.

This non-blocking function will execute entities that were ready when this API was called, until timeout or no more work available. Entities that got ready while executing work, won't be taken into account here.

Example: while(condition) { spin_some(); sleep(); // User should have some sync work or // sleep to avoid a 100% CPU usage }

Reimplemented from rclcpp::Executor.

Definition at line 61 of file static_single_threaded_executor.cpp.

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

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ add_callback_group()

◆ add_node() [1/2]

◆ add_node() [2/2]

◆ execute_ready_executables()

◆ get_all_callback_groups()

◆ get_automatically_added_callback_groups_from_nodes()

◆ get_manually_added_callback_groups()

◆ remove_callback_group()

◆ remove_node() [1/2]

◆ remove_node() [2/2]

◆ spin()

◆ spin_all()

◆ spin_some()