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Add argument for thread count to multithreaded executor (#442)

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Matthew 2018-03-29 19:18:00 -05:00 • committed by Tully Foote
parent ef17ec6248
commit fa81d95e33
2 changed files with 6 additions and 3 deletions
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3
rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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@ -36,7 +36,8 @@ public:
RCLCPP_PUBLIC RCLCPP_PUBLIC
MultiThreadedExecutor( MultiThreadedExecutor(
const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments()); const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments(),
size_t number_of_threads = 0);
RCLCPP_PUBLIC RCLCPP_PUBLIC
virtual ~MultiThreadedExecutor(); virtual ~MultiThreadedExecutor();

6
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
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@ -23,10 +23,12 @@
using rclcpp::executors::MultiThreadedExecutor; using rclcpp::executors::MultiThreadedExecutor;
MultiThreadedExecutor::MultiThreadedExecutor(const rclcpp::executor::ExecutorArgs & args) MultiThreadedExecutor::MultiThreadedExecutor(
const rclcpp::executor::ExecutorArgs & args,
size_t number_of_threads)
: executor::Executor(args) : executor::Executor(args)
{ {
number_of_threads_ = std::thread::hardware_concurrency(); number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
if (number_of_threads_ == 0) { if (number_of_threads_ == 0) {
number_of_threads_ = 1; number_of_threads_ = 1;
} }