forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathcallback_group.hpp
More file actions
227 lines (197 loc) · 7.14 KB
/
callback_group.hpp
File metadata and controls
227 lines (197 loc) · 7.14 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__CALLBACK_GROUP_HPP_
#define RCLCPP__CALLBACK_GROUP_HPP_
#include <atomic>
#include <mutex>
#include <string>
#include <vector>
#include "rclcpp/client.hpp"
#include "rclcpp/publisher_base.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription_base.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/waitable.hpp"
namespace rclcpp
{
// Forward declarations for friend statement in class CallbackGroup
namespace node_interfaces
{
class NodeServices;
class NodeTimers;
class NodeTopics;
class NodeWaitables;
} // namespace node_interfaces
enum class CallbackGroupType
{
MutuallyExclusive,
Reentrant
};
class CallbackGroup
{
friend class rclcpp::node_interfaces::NodeServices;
friend class rclcpp::node_interfaces::NodeTimers;
friend class rclcpp::node_interfaces::NodeTopics;
friend class rclcpp::node_interfaces::NodeWaitables;
public:
RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
/// Constructor for CallbackGroup.
/**
* Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant'
* and when creating one the type must be specified.
*
* Callbacks in Reentrant Callback Groups must be able to:
* - run at the same time as themselves (reentrant)
* - run at the same time as other callbacks in their group
* - run at the same time as other callbacks in other groups
*
* Callbacks in Mutually Exclusive Callback Groups:
* - will not be run multiple times simultaneously (non-reentrant)
* - will not be run at the same time as other callbacks in their group
* - but must run at the same time as callbacks in other groups
*
* Additionally, callback groups have a property which determines whether or
* not they are added to an executor with their associated node automatically.
* When creating a callback group the automatically_add_to_executor_with_node
* argument determines this behavior, and if true it will cause the newly
* created callback group to be added to an executor with the node when the
* Executor::add_node method is used.
* If false, this callback group will not be added automatically and would
* have to be added to an executor manually using the
* Executor::add_callback_group method.
*
* Whether the node was added to the executor before creating the callback
* group, or after, is irrelevant; the callback group will be automatically
* added to the executor in either case.
*
* \param[in] group_type The type of the callback group.
* \param[in] automatically_add_to_executor_with_node A boolean that
* determines whether a callback group is automatically added to an executor
* with the node with which it is associated.
*/
RCLCPP_PUBLIC
explicit CallbackGroup(
CallbackGroupType group_type,
bool automatically_add_to_executor_with_node = true);
template<typename Function>
rclcpp::SubscriptionBase::SharedPtr
find_subscription_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
}
template<typename Function>
rclcpp::TimerBase::SharedPtr
find_timer_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
}
template<typename Function>
rclcpp::ServiceBase::SharedPtr
find_service_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
}
template<typename Function>
rclcpp::ClientBase::SharedPtr
find_client_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
}
template<typename Function>
rclcpp::Waitable::SharedPtr
find_waitable_ptrs_if(Function func) const
{
return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
}
RCLCPP_PUBLIC
std::atomic_bool &
can_be_taken_from();
RCLCPP_PUBLIC
const CallbackGroupType &
type() const;
/// Return a reference to the 'associated with executor' atomic boolean.
/**
* When a callback group is added to an executor this boolean is checked
* to ensure it has not already been added to another executor.
* If it has not been, then this boolean is set to true to indicate it is
* now associated with an executor.
*
* When the callback group is removed from the executor, this atomic boolean
* is set back to false.
*
* \return the 'associated with executor' atomic boolean
*/
RCLCPP_PUBLIC
std::atomic_bool &
get_associated_with_executor_atomic();
/// Return true if this callback group should be automatically added to an executor by the node.
/**
* \return boolean true if this callback group should be automatically added
* to an executor when the associated node is added, otherwise false.
*/
RCLCPP_PUBLIC
bool
automatically_add_to_executor_with_node() const;
protected:
RCLCPP_DISABLE_COPY(CallbackGroup)
RCLCPP_PUBLIC
void
add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
RCLCPP_PUBLIC
void
add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
RCLCPP_PUBLIC
void
add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
RCLCPP_PUBLIC
void
add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
RCLCPP_PUBLIC
void
add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
RCLCPP_PUBLIC
void
add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr);
RCLCPP_PUBLIC
void
remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept;
CallbackGroupType type_;
// Mutex to protect the subsequent vectors of pointers.
mutable std::mutex mutex_;
std::atomic_bool associated_with_executor_;
std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
std::atomic_bool can_be_taken_from_;
const bool automatically_add_to_executor_with_node_;
private:
template<typename TypeT, typename Function>
typename TypeT::SharedPtr _find_ptrs_if_impl(
Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
{
std::lock_guard<std::mutex> lock(mutex_);
for (auto & weak_ptr : vect_ptrs) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr && func(ref_ptr)) {
return ref_ptr;
}
}
return typename TypeT::SharedPtr();
}
};
} // namespace rclcpp
#endif // RCLCPP__CALLBACK_GROUP_HPP_