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[rclcpp] Add class Waitable (#589)

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* [rclcpp] Add class Waitable

Provides a virtual API for interacting with wait sets.

* [rclcpp] Add node interface for Waitables

* [rclcpp] Implement node interface for Waitables

* [rclcpp] Integrate Waitable entities with executor

* Implement remaining logic for integrating Waitables

* Add visibility macros and other refactoring to Waitable class

* Return zero size for entities in a Waitable by default

* Bugfix: Clear list of waitable handles

* Bugfix: update Waitable handle list based on readiness

* Bugfix: update for loop condition

* Give node a node_waitables_

* Give lifecycle node a node_waitables
This commit is contained in:
Jacob Perron 2018-11-22 14:03:51 -08:00 • committed by GitHub
parent be010cb2d5
commit 27b0428f7a
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GPG key ID: 4AEE18F83AFDEB23
18 changed files with 554 additions and 9 deletions
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7
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -44,6 +44,7 @@
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/service.hpp"
@ -390,6 +391,11 @@ public:
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
get_node_parameters_interface();
/// Return the Node's internal NodeWaitablesInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
get_node_waitables_interface();
//
// LIFECYCLE COMPONENTS
//
@ -515,6 +521,7 @@ private:
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
bool use_intra_process_comms_;

8
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -35,6 +35,7 @@
#include "rclcpp/node_interfaces/node_services.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
#include "rclcpp/node_interfaces/node_topics.hpp"
#include "rclcpp/node_interfaces/node_waitables.hpp"
#include "rclcpp/parameter_service.hpp"
#include "lifecycle_node_interface_impl.hpp" // implementation
@ -87,6 +88,7 @@ LifecycleNode::LifecycleNode(
node_graph_,
node_services_
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(use_intra_process_comms),
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
{
@ -297,6 +299,12 @@ LifecycleNode::get_node_parameters_interface()
return node_parameters_;
}
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
LifecycleNode::get_node_waitables_interface()
{
return node_waitables_;
}
////
bool