Reduce overhead for inheriting from rclcpp::Executor when base functionality is not reused#2506
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This is useful in case a second thread needs to wake up another thread, that is sleeping using a clock. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
This adds support for multiple threads waiting on the same clock, while an shutdown is invoked. Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
This commit makes every public funciton virtual, and adds virtual impl function for the existing template functions. The goal of this commit is to be able to fully control the everything from a derived class. Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com>
Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com>
Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com>
Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com>
Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
This change allows it to use a second thread to wait for the future to become ready. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
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Tests are passing for me locally on
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Well, CI passed finally, but Windows took way too long, so we're past the deadline. I'm going to ask for an exception for merging this one in tomorrow's meeting. |
alsora
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Apr 16, 2024
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We got approval in the ROS 2 meeting, we'll announce this exception on discourse too. Merging it now. 🎉 |
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already merged, lgtm as history.
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: |
bartalor
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…onality is not reused (ros2#2506) * feat(clock): Added function to interrupt sleep This is useful in case a second thread needs to wake up another thread, that is sleeping using a clock. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * feat: Added support for multi thread wait / shutdown This adds support for multiple threads waiting on the same clock, while an shutdown is invoked. Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com> * chore: Made Executor fully overloadable This commit makes every public funciton virtual, and adds virtual impl function for the existing template functions. The goal of this commit is to be able to fully control the everything from a derived class. Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com> * Update rclcpp/include/rclcpp/executor.hpp Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com> * Update rclcpp/include/rclcpp/executor.hpp Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com> * Update rclcpp/include/rclcpp/executor.hpp Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com> * Update rclcpp/include/rclcpp/executor.hpp Co-authored-by: William Woodall <wjwwood@gmail.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com> * docs: added doc string for spin_until_future_complete_impl Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * made is_spinning not virtual Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * feat: Changed interface of spin_until_future_complete_impl This change allows it to use a second thread to wait for the future to become ready. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * doc fixup Signed-off-by: William Woodall <william@osrfoundation.org> * undo template->implicit conversion change Signed-off-by: William Woodall <william@osrfoundation.org> * style Signed-off-by: William Woodall <william@osrfoundation.org> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com> Signed-off-by: jmachowinski <jmachowinski@users.noreply.github.com> Signed-off-by: William Woodall <william@osrfoundation.org> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: jmachowinski <jmachowinski@users.noreply.github.com>
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refactor of "API Changes for Multihtreaded Events Executor": #2466