Class AgnocastExecutor

Inheritance Relationships

Base Type

  • public rclcpp::Executor

Derived Types

Class Documentation

class AgnocastExecutor : public rclcpp::Executor

Base class for Stage 1 executors that handle both ROS 2 (RMW) and Agnocast callbacks. Inherits from rclcpp::Executor.

Subclassed by agnocast::MultiThreadedAgnocastExecutor, agnocast::SingleThreadedAgnocastExecutor

Public Functions

explicit AGNOCAST_PUBLIC AgnocastExecutor(const rclcpp::ExecutorOptions &options = rclcpp::ExecutorOptions())

Construct the executor.

Parameters:

options – Executor options.

virtual ~AgnocastExecutor()
virtual AGNOCAST_PUBLIC void spin () override=0

Block the calling thread and process callbacks in a loop until rclcpp::shutdown() is called or the executor is cancelled.

Protected Functions

void prepare_epoll()
bool get_next_agnocast_executable(AgnocastExecutable &agnocast_executable, const int timeout_ms)

Protected Attributes

int epoll_fd_
pid_t my_pid_
std::mutex wait_mutex_

Protected Static Functions

static void execute_agnocast_executable(AgnocastExecutable &agnocast_executable)