Single-threaded executor implementation. More...

#include <rclcpp/executors/single_threaded_executor.hpp>

Inheritance diagram for rclcpp::executors::SingleThreadedExecutor:

Collaboration diagram for rclcpp::executors::SingleThreadedExecutor:

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Public Member Functions
RCLCPP_PUBLIC	SingleThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions())
	Default constructor. See the default constructor for Executor.

virtual RCLCPP_PUBLIC	~SingleThreadedExecutor ()
	Default destructor.

RCLCPP_PUBLIC void	spin () override
	Single-threaded implementation of spin. More...

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...

Additional Inherited Members
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...

virtual RCLCPP_PUBLIC void	handle_updated_entities (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.

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

Single-threaded executor implementation.

This is the default executor created by rclcpp::spin.

Definition at line 42 of file single_threaded_executor.hpp.

Member Function Documentation

◆ spin()

void SingleThreadedExecutor::spin ( )

overridevirtual

Single-threaded implementation of spin.

This function will block until work comes in, execute it, and then repeat the process until canceled. It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c if the associated context is configured to shutdown on SIGINT.

Exceptions

std::runtime_error when spin() called while already spinning

Implements rclcpp::Executor.

Definition at line 28 of file single_threaded_executor.cpp.

References rclcpp::Executor::context_, rclcpp::Executor::execute_any_executable(), rclcpp::Executor::get_next_executable(), rclcpp::ok(), and rclcpp::Executor::spinning.

Referenced by rclcpp::spin().

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

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ spin()