.. _program_listing_file_include_rclcpp_executors.hpp:

Program Listing for File executors.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_executors.hpp>` (``include/rclcpp/executors.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_HPP_
   #define RCLCPP__EXECUTORS_HPP_
   
   #include <future>
   #include <memory>
   
   #include "rclcpp/executors/multi_threaded_executor.hpp"
   #include "rclcpp/executors/single_threaded_executor.hpp"
   #include "rclcpp/executors/static_single_threaded_executor.hpp"
   #include "rclcpp/node.hpp"
   #include "rclcpp/utilities.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   
   
   RCLCPP_PUBLIC
   void
   spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
   
   RCLCPP_PUBLIC
   void
   spin_some(rclcpp::Node::SharedPtr node_ptr);
   
   
   RCLCPP_PUBLIC
   void
   spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
   
   RCLCPP_PUBLIC
   void
   spin(rclcpp::Node::SharedPtr node_ptr);
   
   namespace executors
   {
   
   using rclcpp::executors::MultiThreadedExecutor;
   using rclcpp::executors::SingleThreadedExecutor;
   
   
   template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_node_until_future_complete(
     rclcpp::Executor & executor,
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
     const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
     // inside a callback executed by an executor.
     executor.add_node(node_ptr);
     auto retcode = executor.spin_until_future_complete(future, timeout);
     executor.remove_node(node_ptr);
     return retcode;
   }
   
   template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
     typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_node_until_future_complete(
     rclcpp::Executor & executor,
     std::shared_ptr<NodeT> node_ptr,
     const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     return rclcpp::executors::spin_node_until_future_complete(
       executor,
       node_ptr->get_node_base_interface(),
       future,
       timeout);
   }
   
   }  // namespace executors
   
   template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_until_future_complete(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
     const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     rclcpp::executors::SingleThreadedExecutor executor;
     return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
   }
   
   template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
     typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_until_future_complete(
     std::shared_ptr<NodeT> node_ptr,
     const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXECUTORS_HPP_