single_threaded_executor.cpp

// Copyright 2015 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.
 
#include "rcpputils/scope_exit.hpp"
 
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/any_executable.hpp"
 
using rclcpp::executors::SingleThreadedExecutor;
 
SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::ExecutorOptions & options)
: rclcpp::Executor(options) {}
 
SingleThreadedExecutor::~SingleThreadedExecutor() {}
 
void
SingleThreadedExecutor::spin()
{
  if (spinning.exchange(true)) {
    throw std::runtime_error("spin() called while already spinning");
  }
  RCPPUTILS_SCOPE_EXIT(
    wait_result_.reset();
    this->spinning.store(false);
    this->cancel_requested_.store(false););
  if (cancel_requested_.load()) {
    return;
  }
 
  // Clear any previous result and rebuild the waitset
  this->wait_result_.reset();
  this->entities_need_rebuild_ = true;
 
  while (rclcpp::ok(this->context_) && !cancel_requested_.load()) {
    rclcpp::AnyExecutable any_executable;
    if (get_next_executable(any_executable)) {
      execute_any_executable(any_executable);
    }
  }
}