.. _program_listing_file_include_rclcpp_executors_multi_threaded_executor.hpp:

Program Listing for File multi_threaded_executor.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_executors_multi_threaded_executor.hpp>` (``include/rclcpp/executors/multi_threaded_executor.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__MULTI_THREADED_EXECUTOR_HPP_
   #define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
   
   #include <chrono>
   #include <memory>
   #include <mutex>
   #include <set>
   #include <thread>
   #include <unordered_map>
   
   #include "rclcpp/executor.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/memory_strategies.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   namespace executors
   {
   
   class MultiThreadedExecutor : public rclcpp::Executor
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
   
     
     RCLCPP_PUBLIC
     explicit MultiThreadedExecutor(
       const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
       size_t number_of_threads = 0,
       bool yield_before_execute = false,
       std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
   
     RCLCPP_PUBLIC
     virtual ~MultiThreadedExecutor();
   
     RCLCPP_PUBLIC
     void
     spin() override;
   
     RCLCPP_PUBLIC
     size_t
     get_number_of_threads();
   
   protected:
     RCLCPP_PUBLIC
     void
     run(size_t this_thread_number);
   
   private:
     RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
   
     std::mutex wait_mutex_;
     size_t number_of_threads_;
     bool yield_before_execute_;
     std::chrono::nanoseconds next_exec_timeout_;
   };
   
   }  // namespace executors
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_