single_threaded_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__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
#define RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
 
#include <rmw/rmw.h>
 
#include <cassert>
#include <cstdlib>
#include <memory>
#include <vector>
 
#include "rclcpp/executor.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/rate.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
namespace executors
{
 
 
class SingleThreadedExecutor : public rclcpp::Executor
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)
 
  
  RCLCPP_PUBLIC
  explicit SingleThreadedExecutor(
    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
  RCLCPP_PUBLIC
  virtual ~SingleThreadedExecutor();
 
 
  RCLCPP_PUBLIC
  void
  spin() override;
 
private:
  RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
};
 
}  // namespace executors
}  // namespace rclcpp
 
#endif  // RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_