Program Listing for File multi_threaded_executor.hpp
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// 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_