node_thread.hpp

// 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.
 
#ifndef NAV2_ROS_COMMON__NODE_THREAD_HPP_
#define NAV2_ROS_COMMON__NODE_THREAD_HPP_
 
#include <memory>
 
#include "rclcpp/executor.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
 
namespace nav2
{
class NodeThread
{
public:
  explicit 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_);
      });
  }
 
  explicit NodeThread(
    rclcpp::executors::SingleThreadedExecutor::SharedPtr executor)
  : executor_(executor)
  {
    thread_ = std::make_unique<std::thread>(
      [&]() {
        executor_->spin();
      });
  }
 
  template<typename NodeT>
  explicit NodeThread(NodeT node)
  : NodeThread(node->get_node_base_interface())
  {}
 
  ~NodeThread()
  {
    executor_->cancel();
    thread_->join();
  }
 
protected:
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_;
  std::unique_ptr<std::thread> thread_;
  rclcpp::Executor::SharedPtr executor_;
};
 
}  // namespace nav2
 
#endif  // NAV2_ROS_COMMON__NODE_THREAD_HPP_