static_single_threaded_executor.hpp

// Copyright 2019 Nobleo Technology
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
#define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 
#include <atomic>
#include <chrono>
#include <memory>
 
#include "rclcpp/executor.hpp"
#include "rclcpp/executors/executor_entities_collection.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
 
namespace rclcpp
{
namespace executors
{
 
 
class StaticSingleThreadedExecutor : public rclcpp::Executor
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
 
  
  RCLCPP_PUBLIC
  explicit StaticSingleThreadedExecutor(
    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
  RCLCPP_PUBLIC
  virtual ~StaticSingleThreadedExecutor();
 
 
  RCLCPP_PUBLIC
  void
  spin() override;
 
 
  RCLCPP_PUBLIC
  void
  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
 
 
  RCLCPP_PUBLIC
  void
  spin_all(std::chrono::nanoseconds max_duration) override;
 
protected:
  bool
  execute_ready_executables(
    const rclcpp::executors::ExecutorEntitiesCollection & collection,
    rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
    bool spin_once);
 
  void
  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
 
  void
  spin_once_impl(std::chrono::nanoseconds timeout) override;
 
  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>>
  collect_and_wait(std::chrono::nanoseconds timeout);
 
private:
  RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
};
 
}  // namespace executors
}  // namespace rclcpp
 
#endif  // RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_