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remove vestigial SingleThreadedExecutor header

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This commit is contained in:
William Woodall 2014-08-29 17:47:30 -07:00
parent 222a0535b6
commit 029008bb0a
1 changed files with 0 additions and 108 deletions
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108
rclcpp/include/rclcpp/executor/SingleThreadExecutor.h
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@ -1,108 +0,0 @@
#ifndef __rclcpp__executor__SingleThreadExecutor__h__
#define __rclcpp__executor__SingleThreadExecutor__h__
#include <algorithm>
#include <cassert>
#include <iostream>
#include <vector>
#include "rclcpp/Node.h"
#include "ros_middleware_interface/functions.h"
#include "ros_middleware_interface/handles.h"
namespace rclcpp
{
namespace executor
{
class SingleThreadExecutor
{
public:
SingleThreadExecutor() {}
void register_node(rclcpp::Node *node)
{
this->nodes_.push_back(node);
}
void unregister_node(rclcpp::Node *node)
{
auto it = std::find(this->nodes_.begin(), this->nodes_.end(), node);
if (it != this->nodes_.end())
{
this->nodes_.erase(it);
}
}
void exec()
{
while (1)
{
size_t total_subscribers_size = 0;
for (auto node : this->nodes_)
{
total_subscribers_size += node->subscribers_.size();
}
ros_middleware_interface::SubscriberHandles subscriber_handles;
subscriber_handles.subscriber_count_ = total_subscribers_size;
subscriber_handles.subscribers_ = static_cast<void **>(malloc(sizeof(void *) * total_subscribers_size));
size_t handles_index = 0;
for (auto node : this->nodes_) {
for (auto subscriber : node->subscribers_)
{
assert(handles_index < total_subscribers_size);
subscriber_handles.subscribers_[handles_index] = subscriber->subscriber_handle_.data_;
handles_index += 1;
}
}
ros_middleware_interface::GuardConditionHandles guard_condition_handles;
guard_condition_handles.guard_condition_count_ = 0;
guard_condition_handles.guard_conditions_ = 0;
ros_middleware_interface::wait(subscriber_handles, guard_condition_handles, false);
for (size_t index = 0; index < total_subscribers_size; ++index)
{
void *handle = subscriber_handles.subscribers_[index];
if (!handle)
{
continue;
}
for (auto node : this->nodes_)
{
for (auto subscriber : node->subscribers_)
{
if (subscriber->subscriber_handle_.data_ == handle)
{
// Do callback
std::cout << "Callback for subscriber of topic: " << subscriber->topic_name_ << std::endl;
void * ros_msg = subscriber->create_message();
bool taken = ros_middleware_interface::take(subscriber->subscriber_handle_, ros_msg);
if (taken)
{
std::cout << "- received message on topic: " << subscriber->topic_name_ << std::endl;
subscriber->handle_message(ros_msg);
}
subscriber->delete_message(ros_msg);
}
}
}
}
}
}
private:
SingleThreadExecutor(const SingleThreadExecutor&);
std::vector<rclcpp::Node *> nodes_;
};
} /* namespace executor */
} /* namespace rclcpp */
#endif // __rclcpp__executor__SingleThreadExecutor__h__