Class: Rclrb::Executor

Inherits:
Object
  • Object
show all
Defined in:
lib/rclrb/executor.rb

Overview

An executor controls the threading model used to process callbacks. Callbacks are units of work like subscription callbacks, timer callbacks, and service calls. An executor controls which threads callbacks get executed in.

Instance Method Summary collapse

Constructor Details

#initialize(*nodes) ⇒ Executor

Returns a new instance of Executor.



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# File 'lib/rclrb/executor.rb', line 7

def initialize(*nodes)
  @nodes = nodes
  @groups = nodes.map { |x| x.default_callback_group }
  @running = true
  @exitcode = 0
end

Instance Method Details

#add_node(node) ⇒ Object

Add a node to the executor



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# File 'lib/rclrb/executor.rb', line 15

def add_node(node)
  @nodes.append node
  @groups.append node.default_callback_group
end

#shutdown(exitcode) ⇒ Object 



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# File 'lib/rclrb/executor.rb', line 19

def shutdown(exitcode)
  @exitcode = exitcode
  @running = false
  Rclrb.rcl_signal_guard_condition.trigger
end

#spin ⇒ Object

Spin continuously untill shutdown was requested



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# File 'lib/rclrb/executor.rb', line 26

def spin()
  while @running and not Rclrb.rcl_shutdown_requested?
    wait_set = WaitSet.new
    threads = @groups.map { |g| g.spin wait_set }
    threads.each { |t| t.join }
    wait_set.wait
  end
  return @exitcode
end