Program Listing for File static_single_threaded_executor.hpp

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// 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_