node_thread.cpp

// Copyright (c) 2019 Intel Corporation
//
// 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.
 
#include <memory>
#include "nav2_util/node_thread.hpp"
 
namespace nav2_util
{
 
NodeThread::NodeThread(
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base)
: node_(node_base)
{
  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  thread_ = std::make_unique<std::thread>(
    [&]()
    {
      executor_->add_node(node_);
      executor_->spin();
      executor_->remove_node(node_);
    });
}
 
NodeThread::NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor)
: executor_(executor)
{
  thread_ = std::make_unique<std::thread>(
    [&]() {
      executor_->spin();
    });
}
 
NodeThread::~NodeThread()
{
  executor_->cancel();
  thread_->join();
}
 
}  // namespace nav2_util