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allow scheduler switch in simple example

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This commit is contained in:
Niklas Halle 2025-07-30 16:28:46 +02:00
parent f5c8593b53
commit c552c40571
2 changed files with 32 additions and 12 deletions
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2
src/full_topology/src/full_topology.cpp
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@ -111,7 +111,7 @@ int main(int argc, char **argv)
#ifdef MULTI_THREADED
// Create a multi-threaded executor to handle all nodes
std::cout << "multi threaded ros default" << std::endl;
rclcpp::executors::MultiThreadedExecutor executor;
rclcpp::executors::MultiThreadedExecutor executor{rclcpp::ExecutorOptions(), 2};
#else
// Create a single-threaded executor to handle all nodes
std::cout << "single threaded ros default" << std::endl;

32
src/full_topology/src/simple.cpp
View file

@ -79,10 +79,13 @@
int main(int argc, char **argv)
{
std::cout << "hardware_concurrency: " << std::thread::hardware_concurrency() << " threads." << std::endl;
DECLARE_CHAIN(0); // Chain 1: Image2Ground Mapping
rclcpp::init(argc, argv);
#ifdef EDF_PRIORITY_EXECUTOR
// Create a priority executor with a custom memory strategy
auto strategy = std::make_shared<priority_executor::PriorityMemoryStrategy<>>();
rclcpp::ExecutorOptions options;
@ -91,16 +94,30 @@ int main(int argc, char **argv)
// Must be set to post_execute can set new deadlines
executor.prio_memory_strategy_ = strategy;
#else // default: ROS
#ifdef MULTI_THREADED
// Create a multi-threaded executor to handle all nodes
std::cout << "multi threaded ros default" << std::endl;
rclcpp::executors::MultiThreadedExecutor executor;
#else
// Create a single-threaded executor to handle all nodes
std::cout << "single threaded ros default" << std::endl;
rclcpp::executors::SingleThreadedExecutor executor;
#endif
#endif
double fps = 60.0; // Frames per second for the camera
double period = 1000.0 / fps; // Period in milliseconds
// chain id, node name, node class, input topic, output topic, duration in ms
MAKE_INPUT_NODE( 0, cameraA , CameraNode , /*has no input topic*/ "/input/cameraA/raw" , period); // 60 FPS camera, fast
MAKE_PROCESSING_NODE(0, debayerA , DebayerNode , "/input/cameraA/raw" , "/cameraA/debayered" , 18); // Moderate, image conversion
MAKE_PROCESSING_NODE(0, radiometricA, RadiometricNode, "/cameraA/debayered" , "/cameraA/radiometric" , 22); // Heavier image math
MAKE_PROCESSING_NODE(0, geometric , GeometricNode , "/cameraA/radiometric", "/cameraA/geometric" , 12); // Perspective transform, medium
MAKE_OUTPUT_NODE( 0, mapping , MappingNode , "/cameraA/geometric" , "/output/cameraA/mapped", 16); // Warping/stitching, moderate
// chain id, node name, node class, input topic, output topic, duration or period in ms
MAKE_INPUT_NODE( 0, cameraA , CameraNode , /*has no input topic*/ "/input/cameraA/raw" , period);
MAKE_PROCESSING_NODE(0, debayerA , DebayerNode , "/input/cameraA/raw" , "/cameraA/debayered" , 18);
MAKE_PROCESSING_NODE(0, radiometricA, RadiometricNode, "/cameraA/debayered" , "/cameraA/radiometric" , 22);
MAKE_PROCESSING_NODE(0, geometric , GeometricNode , "/cameraA/radiometric", "/cameraA/geometric" , 12);
MAKE_OUTPUT_NODE( 0, mapping , MappingNode , "/cameraA/geometric" , "/output/cameraA/mapped", 16);
period = 1000;
#ifdef EDF_PRIORITY_EXECUTOR
// the new funcitons in PriorityMemoryStrategy accept the handle of the
// timer/subscription as the first argument
strategy->set_executable_deadline(cameraA->timer_->get_timer_handle() , period, priority_executor::ExecutableType::TIMER , 0);
@ -118,6 +135,7 @@ int main(int argc, char **argv)
// you _must_ set the timer_handle of the last callback in the chain to the timer of the first node
strategy->get_priority_settings(mapping->subscription_->get_subscription_handle())->timer_handle = cameraA->timer_;
#endif
executor.add_node(cameraA);
executor.add_node(debayerA);
@ -125,6 +143,7 @@ int main(int argc, char **argv)
executor.add_node(geometric);
executor.add_node(mapping);
#ifdef EDF_PRIORITY_EXECUTOR
std::cout << *strategy->get_priority_settings(cameraA->timer_->get_timer_handle())
<< std::endl;
std::cout << *strategy->get_priority_settings(debayerA->subscription_->get_subscription_handle())
@ -135,6 +154,7 @@ int main(int argc, char **argv)
<< std::endl;
std::cout << *strategy->get_priority_settings(mapping->subscription_->get_subscription_handle())
<< std::endl;
#endif
executor.spin();