.. _program_listing_file_include_rclcpp_executors_static_single_threaded_executor.hpp:

Program Listing for File static_single_threaded_executor.hpp
============================================================

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

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

.. code-block:: cpp

   // Copyright 2019 Nobleo Technology
   //
   // 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__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
   #define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
   
   #include <chrono>
   #include <cassert>
   #include <cstdlib>
   #include <memory>
   #include <vector>
   #include <string>
   
   #include "rmw/rmw.h"
   
   #include "rclcpp/executor.hpp"
   #include "rclcpp/executors/static_executor_entities_collector.hpp"
   #include "rclcpp/experimental/executable_list.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/memory_strategies.hpp"
   #include "rclcpp/node.hpp"
   #include "rclcpp/rate.hpp"
   #include "rclcpp/utilities.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   namespace executors
   {
   
   
   class StaticSingleThreadedExecutor : public rclcpp::Executor
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
   
     
     RCLCPP_PUBLIC
     explicit StaticSingleThreadedExecutor(
       const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
   
     RCLCPP_PUBLIC
     virtual ~StaticSingleThreadedExecutor();
   
   
     RCLCPP_PUBLIC
     void
     spin() override;
   
   
     RCLCPP_PUBLIC
     void
     spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
   
   
     RCLCPP_PUBLIC
     void
     spin_all(std::chrono::nanoseconds max_duration) override;
   
   
     RCLCPP_PUBLIC
     void
     add_callback_group(
       rclcpp::CallbackGroup::SharedPtr group_ptr,
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
       bool notify = true) override;
   
   
     RCLCPP_PUBLIC
     void
     remove_callback_group(
       rclcpp::CallbackGroup::SharedPtr group_ptr,
       bool notify = true) override;
   
   
     RCLCPP_PUBLIC
     void
     add_node(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
       bool notify = true) override;
   
   
     RCLCPP_PUBLIC
     void
     add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
   
   
     RCLCPP_PUBLIC
     void
     remove_node(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
       bool notify = true) override;
   
   
     RCLCPP_PUBLIC
     void
     remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_all_callback_groups() override;
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_manually_added_callback_groups() override;
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::CallbackGroup::WeakPtr>
     get_automatically_added_callback_groups_from_nodes() override;
   
   protected:
     RCLCPP_PUBLIC
     bool
     execute_ready_executables(bool spin_once = false);
   
     RCLCPP_PUBLIC
     void
     spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
   
     RCLCPP_PUBLIC
     void
     spin_once_impl(std::chrono::nanoseconds timeout) override;
   
   private:
     RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
   
     StaticExecutorEntitiesCollector::SharedPtr entities_collector_;
   };
   
   }  // namespace executors
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_