allow scheduler switch in simple example

.gitmodules

@@ -1,10 +1,6 @@
 [submodule "src/ros_edf"]
 	path = src/ros_edf
 	url = git@git.niklashalle.net:niklas/ROS-Dynamic-Executor.git
-[submodule "src/tools/tracetools_analysis"]
-	path = src/tracetools_analysis
-	url = git@git.niklashalle.net:niklas/tracetools_analysis.git
-	branch = foxy
 [submodule "src/rcl"]
 	path = src/rcl
 	url = git@git.niklashalle.net:niklas/rcl.git

src/cyclonedds

@@ -1 +1 @@
-Subproject commit 412d818269b6e8e5b7eae32f7e245935bd30f4a7
+Subproject commit 14181900b7bfd89ced1dcc5f33cab50580cf24da

src/full_topology/src/full_topology.cpp

@@ -109,13 +109,13 @@ int main(int argc, char **argv)
   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;
+    // Create a multi-threaded executor to handle all nodes
+    std::cout << "multi threaded ros default" << std::endl;
+    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;
-  rclcpp::executors::SingleThreadedExecutor executor;
+    // Create a single-threaded executor to handle all nodes
+    std::cout << "single threaded ros default" << std::endl;
+    rclcpp::executors::SingleThreadedExecutor executor;
   #endif
 #endif
 

src/full_topology/src/simple.cpp

@@ -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();
 

src/rcl

@@ -1 +1 @@
-Subproject commit 5da7e193371c25cf1ebd2489978768327c382c04
+Subproject commit df1f49f299242430c1e4949859625dff2e5ede60

src/rclcpp

@@ -1 +1 @@
-Subproject commit e57a3a393e46f0c0e0e5cc64090ac34e5cef32bc
+Subproject commit c0d7ba53666616776af4190844d05b677d411c9a

src/rmw_cyclonedds

@@ -1 +1 @@
-Subproject commit 79e07924d66b205838d28da4c9df6a941df6795c
+Subproject commit 90d9bc72965fec0f2e3bbe495a6f946d4c31a7d6

src/ros2_tracing

@@ -1 +1 @@
-Subproject commit e8637c9043b9bc396135dbfa7068143bfa8a879c
+Subproject commit 0d51819f5f54d586fb614ce5e1dd9fda96b87675

src/tracetools_analysis

@@ -1 +0,0 @@
-Subproject commit e18ddb62d580e6f56dc4e232370a2c93beaedb7c