71 lines
2.1 KiB
C++
71 lines
2.1 KiB
C++
// Copyright 2014 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
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#define RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
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#include <rmw/rmw.h>
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#include <cassert>
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#include <cstdlib>
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#include <memory>
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#include <vector>
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#include "rclcpp/executor.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/memory_strategies.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/utilities.hpp"
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#include "rclcpp/rate.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace executors
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{
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namespace single_threaded_executor
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{
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/// Single-threaded executor implementation
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// This is the default executor created by rclcpp::spin.
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class SingleThreadedExecutor : public executor::Executor
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
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/// Default constructor. See the default constructor for Executor.
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RCLCPP_PUBLIC
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SingleThreadedExecutor(
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const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments());
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/// Default destrcutor.
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RCLCPP_PUBLIC
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virtual ~SingleThreadedExecutor();
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/// Single-threaded implementation of spin.
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// This function will block until work comes in, execute it, and keep blocking.
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// It will only be interrupt by a CTRL-C (managed by the global signal handler).
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RCLCPP_PUBLIC
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void
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spin();
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private:
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RCLCPP_DISABLE_COPY(SingleThreadedExecutor);
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};
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} // namespace single_threaded_executor
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} // namespace executors
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} // namespace rclcpp
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#endif // RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
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