executor.hpp

// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// 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__EXECUTOR_HPP_
#define RCLCPP__EXECUTOR_HPP_
 
#include <algorithm>
#include <cassert>
#include <chrono>
#include <cstdlib>
#include <iostream>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
 
#include "rcl/guard_condition.h"
#include "rcl/wait.h"
#include "rclcpp/executors/executor_notify_waitable.hpp"
#include "rcpputils/scope_exit.hpp"
 
#include "rclcpp/context.hpp"
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/executor_options.hpp"
#include "rclcpp/executors/executor_entities_collection.hpp"
#include "rclcpp/executors/executor_entities_collector.hpp"
#include "rclcpp/future_return_code.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/wait_set.hpp"
 
namespace rclcpp
{
 
// Forward declaration is used in convenience method signature.
class Node;
class ExecutorImplementation;
 
 
class Executor
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
  
  RCLCPP_PUBLIC
  explicit Executor(const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
  RCLCPP_PUBLIC
  virtual ~Executor();
 
  // It is up to the implementation of Executor to implement spin.
  virtual void
  spin() = 0;
 
 
  RCLCPP_PUBLIC
  virtual void
  add_callback_group(
    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
    bool notify = true);
 
 
  RCLCPP_PUBLIC
  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
  get_all_callback_groups();
 
 
  RCLCPP_PUBLIC
  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
  get_manually_added_callback_groups();
 
 
  RCLCPP_PUBLIC
  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
  get_automatically_added_callback_groups_from_nodes();
 
 
  RCLCPP_PUBLIC
  virtual void
  remove_callback_group(
    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
    bool notify = true);
 
 
  RCLCPP_PUBLIC
  virtual void
  add_node(
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
    bool notify = true);
 
 
  RCLCPP_PUBLIC
  virtual void
  add_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
 
  RCLCPP_PUBLIC
  virtual void
  remove_node(
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
    bool notify = true);
 
 
  RCLCPP_PUBLIC
  virtual void
  remove_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
 
  template<typename RepT = int64_t, typename T = std::milli>
  void
  spin_node_once(
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
    std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
  {
    return spin_node_once_nanoseconds(
      node,
      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
    );
  }
 
  template<typename NodeT = rclcpp::Node, typename RepT = int64_t, typename T = std::milli>
  void
  spin_node_once(
    const std::shared_ptr<NodeT> & node,
    std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
  {
    return spin_node_once_nanoseconds(
      node->get_node_base_interface(),
      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
    );
  }
 
 
  RCLCPP_PUBLIC
  virtual void
  spin_node_some(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node);
 
  RCLCPP_PUBLIC
  virtual void
  spin_node_some(const std::shared_ptr<rclcpp::Node> & node);
 
 
  RCLCPP_PUBLIC
  virtual void
  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
 
  RCLCPP_PUBLIC
  virtual void
  spin_node_all(
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
    std::chrono::nanoseconds max_duration);
 
  RCLCPP_PUBLIC
  virtual void
  spin_node_all(const std::shared_ptr<rclcpp::Node> & node, std::chrono::nanoseconds max_duration);
 
 
  RCLCPP_PUBLIC
  virtual void
  spin_all(std::chrono::nanoseconds max_duration);
 
 
 
  RCLCPP_PUBLIC
  virtual void
  spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
 
  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))
  {
    return spin_until_future_complete_impl(
      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout),
      [&future](std::chrono::nanoseconds wait_time) {
        return future.wait_for(wait_time);
      }
    );
  }
 
 
  RCLCPP_PUBLIC
  virtual void
  cancel();
 
 
  RCLCPP_PUBLIC
  bool
  is_spinning();
 
protected:
 
  explicit Executor(const std::shared_ptr<rclcpp::Context> & context);
 
 
  RCLCPP_PUBLIC
  void
  spin_node_once_nanoseconds(
    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
    std::chrono::nanoseconds timeout);
 
 
  RCLCPP_PUBLIC
  virtual FutureReturnCode
  spin_until_future_complete_impl(
    std::chrono::nanoseconds timeout,
    const std::function<std::future_status(std::chrono::nanoseconds wait_time)> & wait_for_future);
 
 
  RCLCPP_PUBLIC
  void
  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
 
 
  RCLCPP_PUBLIC
  void
  execute_any_executable(AnyExecutable & any_exec);
 
 
  RCLCPP_PUBLIC
  static void
  execute_subscription(
    const rclcpp::SubscriptionBase::SharedPtr & subscription);
 
 
  RCLCPP_PUBLIC
  static void
  execute_timer(const rclcpp::TimerBase::SharedPtr & timer, const std::shared_ptr<void> & data_ptr);
 
 
  RCLCPP_PUBLIC
  static void
  execute_service(const rclcpp::ServiceBase::SharedPtr & service);
 
 
  RCLCPP_PUBLIC
  static void
  execute_client(const rclcpp::ClientBase::SharedPtr & client);
 
  RCLCPP_PUBLIC
  void
  collect_entities();
 
 
  RCLCPP_PUBLIC
  void
  wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
 
  RCLCPP_PUBLIC
  bool
  get_next_ready_executable(AnyExecutable & any_executable);
 
 
  RCLCPP_PUBLIC
  bool
  get_next_executable(
    AnyExecutable & any_executable,
    std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
 
  RCLCPP_PUBLIC
  virtual void
  handle_updated_entities(bool notify);
 
 
  std::atomic_bool spinning;
 
 
  std::atomic_bool cancel_requested_;
 
  std::shared_ptr<rclcpp::GuardCondition> interrupt_guard_condition_;
 
  std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
  mutable std::mutex mutex_;
 
  std::shared_ptr<rclcpp::Context> context_;
 
  RCLCPP_DISABLE_COPY(Executor)
 
  RCLCPP_PUBLIC
  virtual void
  spin_once_impl(std::chrono::nanoseconds timeout);
 
 
  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
  std::atomic_bool entities_need_rebuild_;
 
  rclcpp::executors::ExecutorEntitiesCollector collector_;
 
  rclcpp::WaitSet wait_set_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>> wait_result_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
  rclcpp::executors::ExecutorEntitiesCollection current_collection_ RCPPUTILS_TSA_GUARDED_BY(
    mutex_);
 
  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> current_notify_waitable_
  RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
  rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
 
  std::unique_ptr<ExecutorImplementation> impl_;
};
 
}  // namespace rclcpp
 
#endif  // RCLCPP__EXECUTOR_HPP_