90 lines
2.5 KiB
C++
90 lines
2.5 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__MULTI_THREADED_EXECUTOR_HPP_
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#define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
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#include <chrono>
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#include <memory>
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#include <mutex>
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#include <set>
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#include <thread>
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#include <unordered_map>
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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/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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class MultiThreadedExecutor : public executor::Executor
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
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/// Constructor for MultiThreadedExecutor.
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/**
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* For the yield_before_execute option, when true std::this_thread::yield()
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* will be called after acquiring work (as an AnyExecutable) and
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* releasing the spinning lock, but before executing the work.
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* This is useful for reproducing some bugs related to taking work more than
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* once.
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*
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* \param args common arguments for all executors
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* \param number_of_threads number of threads to have in the thread pool,
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* the default 0 will use the number of cpu cores found instead
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* \param yield_before_execute if true std::this_thread::yield() is called
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*/
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RCLCPP_PUBLIC
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MultiThreadedExecutor(
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const executor::ExecutorArgs & args = executor::ExecutorArgs(),
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size_t number_of_threads = 0,
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bool yield_before_execute = false,
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std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
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RCLCPP_PUBLIC
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virtual ~MultiThreadedExecutor();
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RCLCPP_PUBLIC
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void
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spin() override;
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RCLCPP_PUBLIC
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size_t
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get_number_of_threads();
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protected:
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RCLCPP_PUBLIC
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void
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run(size_t this_thread_number);
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private:
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RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
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std::mutex wait_mutex_;
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size_t number_of_threads_;
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bool yield_before_execute_;
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std::chrono::nanoseconds next_exec_timeout_;
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std::set<TimerBase::SharedPtr> scheduled_timers_;
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};
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} // namespace executors
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} // namespace rclcpp
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#endif // RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
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