Inheritance diagram for rclcpp::executors::MultiThreadedExecutor:

Collaboration diagram for rclcpp::executors::MultiThreadedExecutor:

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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.

virtual 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...

virtual 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 max duration. More...

virtual RCLCPP_PUBLIC void	spin_node_all (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds max_duration)
	Add a node, complete all immediately available work exhaustively, and remove the node. More...

virtual RCLCPP_PUBLIC void	spin_node_all (std::shared_ptr< rclcpp::Node > node, std::chrono::nanoseconds max_duration)
	Convenience function which takes Node and forwards NodeBaseInterface.

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))
	Collect work once and execute the next available work, optionally within a duration. More...

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...

virtual RCLCPP_PUBLIC void	cancel ()
	Cancel any running spin* function, causing it to return. 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
	Executor (const std::shared_ptr< rclcpp::Context > &context)
	Constructor that will not initialize any non-trivial members. More...

RCLCPP_PUBLIC void	spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout)
	Add a node to executor, execute the next available unit of work, and remove the node. More...

virtual RCLCPP_PUBLIC FutureReturnCode	spin_until_future_complete_impl (std::chrono::nanoseconds timeout, const std::function< std::future_status(std::chrono::nanoseconds wait_time)> &wait_for_future)
	Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted. More...

RCLCPP_PUBLIC void	spin_some_impl (std::chrono::nanoseconds max_duration, bool exhaustive)
	Collect work and execute available work, optionally within a duration. More...

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	collect_entities ()
	Gather all of the waitable entities from associated nodes and callback groups.

RCLCPP_PUBLIC void	wait_for_work (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Block until more work becomes avilable or timeout is reached. More...

RCLCPP_PUBLIC bool	get_next_ready_executable (AnyExecutable &any_executable)
	Check for executable in ready state and populate union structure. More...

RCLCPP_PUBLIC bool	get_next_executable (AnyExecutable &any_executable, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Wait for executable in ready state and populate union structure. More...

void	trigger_entity_recollect (bool notify)
	This function triggers a recollect of all entities that are registered to the executor. More...

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

rclcpp::WaitSet wait_set_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	WaitSet to be waited on.

std::optional< rclcpp::WaitResult< rclcpp::WaitSet > > wait_result_	RCPPUTILS_TSA_GUARDED_BY (mutex_)

rclcpp::executors::ExecutorEntitiesCollection current_collection_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	Hold the current state of the collection being waited on by the waitset.

std::shared_ptr< rclcpp::executors::ExecutorNotifyWaitable > current_notify_waitable_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	Hold the current state of the notify waitable being waited on by the waitset.

Additional Inherited Members
Static Protected Member Functions inherited from rclcpp::Executor
static RCLCPP_PUBLIC void	execute_subscription (rclcpp::SubscriptionBase::SharedPtr subscription)
	Run subscription executable. More...

static RCLCPP_PUBLIC void	execute_timer (rclcpp::TimerBase::SharedPtr timer, const std::shared_ptr< void > &data_ptr)
	Run timer executable. More...

static RCLCPP_PUBLIC void	execute_service (rclcpp::ServiceBase::SharedPtr service)
	Run service server executable. More...

static RCLCPP_PUBLIC void	execute_client (rclcpp::ClientBase::SharedPtr client)
	Run service client executable. More...

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.

std::shared_ptr< 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_
	Guard condition for signaling the rmw layer to wake up for system shutdown.

std::mutex	mutex_

std::shared_ptr< rclcpp::Context >	context_
	The context associated with this executor.

std::shared_ptr< rclcpp::executors::ExecutorNotifyWaitable >	notify_waitable_
	Waitable containing guard conditions controlling the executor flow. More...

std::atomic_bool	entities_need_rebuild_

rclcpp::executors::ExecutorEntitiesCollector	collector_
	Collector used to associate executable entities from nodes and guard conditions.

rclcpp::OnShutdownCallbackHandle	shutdown_callback_handle_
	shutdown callback handle registered to Context

std::unique_ptr< ExecutorImplementation >	impl_
	Pointer to implementation.

Detailed Description

Definition at line 35 of file multi_threaded_executor.hpp.

Constructor & Destructor Documentation

◆ MultiThreadedExecutor()

MultiThreadedExecutor::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)`
	)

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 (minimum of 2)
yield_before_execute	if true std::this_thread::yield() is called
timeout	maximum time to wait

Definition at line 29 of file multi_threaded_executor.cpp.

References rclcpp::get_logger().

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