rclcpp::executors::cbg_executor::CBGScheduler Class Reference

Inheritance diagram for rclcpp::executors::cbg_executor::CBGScheduler:

Classes
struct	CallbackEventType
struct	CallbackGroupHandle
struct	ExecutableEntity
struct	ExecutableEntityWithInfo
struct	WaitableWithEventType

Public Member Functions
	CBGScheduler (std::function< void()> sync_function)
	CBGScheduler (const CBGScheduler &)=delete
	CBGScheduler (CBGScheduler &&)=delete
CBGScheduler &	operator= (const CBGScheduler &)=delete
CBGScheduler &	operator= (CBGScheduler &&)=delete
CallbackGroupHandle *	add_callback_group (const rclcpp::CallbackGroup::SharedPtr &callback_group)
void	remove_callback_group (const CallbackGroupHandle *callback_handle)
void	callback_group_ready (CallbackGroupHandle *handle, bool callback_group_was_idle)
ExecutableEntityWithInfo	get_next_ready_entity ()
ExecutableEntityWithInfo	get_next_ready_entity (GlobalEventIdProvider::MonotonicId max_id)
virtual ExecutableEntityWithInfo	get_next_ready_entity_intern ()=0
virtual ExecutableEntityWithInfo	get_next_ready_entity_intern (GlobalEventIdProvider::MonotonicId max_id)=0
void	trigger_sync ()
void	mark_entity_as_executed (const ExecutableEntity &e)
void	unblock_one_worker_thread ()
void	block_worker_thread ()
void	block_worker_thread_for (std::chrono::nanoseconds timeout)
void	release_all_worker_threads ()

Protected Member Functions
virtual std::unique_ptr< CallbackGroupHandle >	get_handle_for_callback_group (const rclcpp::CallbackGroup::SharedPtr &callback_group)=0

Protected Attributes
std::function< void()>	sync_function
bool	needs_sync = false
std::mutex	ready_callback_groups_mutex
std::deque< CallbackGroupHandle * >	ready_callback_groups
bool	release_workers = false
bool	release_worker_once = false
std::condition_variable	work_ready_conditional
std::list< std::unique_ptr< CallbackGroupHandle > >	callback_groups

Detailed Description

Definition at line 31 of file scheduler.hpp.

Constructor & Destructor Documentation

CBGScheduler()

rclcpp::executors::cbg_executor::CBGScheduler::CBGScheduler ( std::function< void()>  sync_function )

inlineexplicit

Parameters

sync_function

A special purpose sync function, that shall be executed with high priority if triggered by trigger_sync();

Definition at line 194 of file scheduler.hpp.

Member Function Documentation

callback_group_ready()

void rclcpp::executors::cbg_executor::CBGScheduler::callback_group_ready ( CallbackGroupHandle *  handle, bool  callback_group_was_idle  )

inline

Will be called, by CallbackGroupHandle if any entity in the cb group is ready for execution and the cb group was idle before

Parameters

callback_group_was_idle

Is false, if no entity of the callback group was executed, before this call was made. This means we need to wakeup a a new thread.

Definition at line 231 of file scheduler.hpp.

References unblock_one_worker_thread().

Referenced by rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle::add_ready_entity(), and rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle::mark_as_executed().

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get_next_ready_entity()

ExecutableEntityWithInfo rclcpp::executors::cbg_executor::CBGScheduler::get_next_ready_entity ( )

inline

Returns the next ready entity that shall be executed. If a entity is removed here, the scheduler may assume that it will be executed, and that the function mark_entity_as_executed will be called afterwards.

Definition at line 257 of file scheduler.hpp.

mark_entity_as_executed()

void rclcpp::executors::cbg_executor::CBGScheduler::mark_entity_as_executed ( const ExecutableEntity &  e )

inline

Must be called, after a entity was executed. This function will normally be used, to mark the associated callback group as ready again.

Definition at line 320 of file scheduler.hpp.

References rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle::mark_as_executed().

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trigger_sync()

void rclcpp::executors::cbg_executor::CBGScheduler::trigger_sync ( )

inline

If this function was triggered, a worker thread must be woken up, and the next call to get_next_ready_entity must return a ExecutableEntityWithInfo with the sync function in it.Or reworded if this function is triggered the sync function will be executed as the next exent by the executor.

Definition at line 300 of file scheduler.hpp.

References unblock_one_worker_thread().

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unblock_one_worker_thread()

void rclcpp::executors::cbg_executor::CBGScheduler::unblock_one_worker_thread ( )

inline

Wakes up a worker thread

Definition at line 330 of file scheduler.hpp.

Referenced by callback_group_ready(), and trigger_sync().

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

• rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp