.. _program_listing_file_include_rclcpp_experimental_executors_events_executor_events_executor.hpp:

Program Listing for File events_executor.hpp
============================================

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

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

.. code-block:: cpp

   // Copyright 2023 iRobot Corporation.
   //
   // 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__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
   #define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
   
   #include <atomic>
   #include <chrono>
   #include <memory>
   #include <vector>
   
   #include "rclcpp/executor.hpp"
   #include "rclcpp/executors/executor_entities_collection.hpp"
   #include "rclcpp/executors/executor_entities_collector.hpp"
   #include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
   #include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
   #include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
   #include "rclcpp/experimental/timers_manager.hpp"
   #include "rclcpp/node.hpp"
   
   namespace rclcpp
   {
   namespace experimental
   {
   namespace executors
   {
   
   
   class EventsExecutor : public rclcpp::Executor
   {
     friend class EventsExecutorEntitiesCollector;
   
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)
   
     
     RCLCPP_PUBLIC
     explicit EventsExecutor(
       rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue = std::make_unique<
         rclcpp::experimental::executors::SimpleEventsQueue>(),
       bool execute_timers_separate_thread = false,
       const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
   
     RCLCPP_PUBLIC
     virtual ~EventsExecutor();
   
   
     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_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
     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
     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
     void
     spin_once_impl(std::chrono::nanoseconds timeout) override;
   
     RCLCPP_PUBLIC
     void
     spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
   
   private:
     RCLCPP_DISABLE_COPY(EventsExecutor)
   
     
     void
     execute_event(const ExecutorEvent & event);
   
     void
     refresh_current_collection_from_callback_groups();
   
     void
     refresh_current_collection(const rclcpp::executors::ExecutorEntitiesCollection & new_collection);
   
     std::function<void(size_t)>
     create_entity_callback(void * entity_key, ExecutorEventType type);
   
     std::function<void(size_t, int)>
     create_waitable_callback(const rclcpp::Waitable * waitable_id);
   
     void
     add_notify_waitable_to_collection(
       rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection);
   
     template<typename CollectionType>
     typename CollectionType::EntitySharedPtr
     retrieve_entity(typename CollectionType::Key entity_id, CollectionType & collection)
     {
       // Check if the entity_id is in the collection
       auto it = collection.find(entity_id);
       if (it == collection.end()) {
         return nullptr;
       }
   
       // Check if the entity associated with the entity_id is valid
       // and remove it from the collection if it isn't
       auto entity = it->second.entity.lock();
       if (!entity) {
         collection.erase(it);
       }
   
       // Return the retrieved entity (this can be a nullptr if the entity was not valid)
       return entity;
     }
   
     rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
   
     std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollector> entities_collector_;
     std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
   
     std::recursive_mutex collection_mutex_;
     std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollection> current_entities_collection_;
   
     std::atomic<bool> notify_waitable_event_pushed_ {false};
   
     std::shared_ptr<rclcpp::experimental::TimersManager> timers_manager_;
   };
   
   }  // namespace executors
   }  // namespace experimental
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_