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CallbackGroup centric executor #2405

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CallbackGroup centric executor #2405

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4e9f8bc
fix: Allow usage of spin_node_until_future_complete with arbitary exe…
Jan 19, 2024
ffae0aa
test: Refactored and enhanced executor benchmarks
Jan 19, 2024
261a69b
feat(Executor): make execute_any_executable public
Jan 19, 2024
27cc9ac
feat: Added new CBGExecutor
Feb 3, 2024
c33c96c
minor benchmark update
Feb 4, 2024
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2 changes: 2 additions & 0 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,8 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/executable_list.cpp
src/rclcpp/executor.cpp
src/rclcpp/executors.cpp
src/rclcpp/executors/cbg_executor.cpp
src/rclcpp/executors/detail/weak_executable_with_rcl_handle_cache.cpp
src/rclcpp/executors/executor_entities_collection.cpp
src/rclcpp/executors/executor_entities_collector.cpp
src/rclcpp/executors/executor_notify_waitable.cpp
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8 changes: 5 additions & 3 deletions rclcpp/include/rclcpp/executor.hpp
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Expand Up @@ -476,6 +476,7 @@ class Executor
void
execute_any_executable(AnyExecutable & any_exec);

public:
/// Run subscription executable.
/**
* Do necessary setup and tear-down as well as executing the subscription.
Expand All @@ -484,7 +485,7 @@ class Executor
RCLCPP_PUBLIC
static void
execute_subscription(
rclcpp::SubscriptionBase::SharedPtr subscription);
const rclcpp::SubscriptionBase::SharedPtr &subscription);

/// Run timer executable.
/**
Expand All @@ -502,7 +503,7 @@ class Executor
*/
RCLCPP_PUBLIC
static void
execute_service(rclcpp::ServiceBase::SharedPtr service);
execute_service(const rclcpp::ServiceBase::SharedPtr &service);

/// Run service client executable.
/**
Expand All @@ -511,8 +512,9 @@ class Executor
*/
RCLCPP_PUBLIC
static void
execute_client(rclcpp::ClientBase::SharedPtr client);
execute_client(const rclcpp::ClientBase::SharedPtr &client);

protected:
/// Block until more work becomes avilable or timeout is reached.
/**
* Builds a set of waitable entities, which are passed to the middleware.
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10 changes: 6 additions & 4 deletions rclcpp/include/rclcpp/executors.hpp
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Expand Up @@ -79,10 +79,11 @@ using rclcpp::executors::SingleThreadedExecutor;
* If the time spent inside the blocking loop exceeds this timeout, return a `TIMEOUT` return code.
* \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
*/
template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
template<typename FutureT, typename Executor, typename TimeRepT = int64_t,
typename TimeT = std::milli>
rclcpp::FutureReturnCode
spin_node_until_future_complete(
rclcpp::Executor & executor,
Executor & executor,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
const FutureT & future,
std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
Expand All @@ -95,11 +96,12 @@ spin_node_until_future_complete(
return retcode;
}

template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
template<typename NodeT = rclcpp::Node, typename FutureT, typename Executor,
typename TimeRepT = int64_t,
typename TimeT = std::milli>
rclcpp::FutureReturnCode
spin_node_until_future_complete(
rclcpp::Executor & executor,
Executor & executor,
std::shared_ptr<NodeT> node_ptr,
const FutureT & future,
std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
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