feat: Added callback group events executor#3097
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jmachowinski wants to merge 8 commits intoros2:rollingfrom
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feat: Added callback group events executor#3097jmachowinski wants to merge 8 commits intoros2:rollingfrom
jmachowinski wants to merge 8 commits intoros2:rollingfrom
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alsora
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rclcpp/include/rclcpp/executors/events_cbg_executor/events_cbg_executor.hpp
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rclcpp/include/rclcpp/experimental/executors/events_cbg_executor/events_cbg_executor.hpp
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@jmachowinski can you add this to the executor unit-tests? |
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| not_ready = true; | ||
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| std::mutex ready_mutex; |
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any chance we could change this to a std::recursive_mutex? It was needed for the action goal fixes in #3018 and ros2/rcl#1295 to work with the EventsCBGExecutor.
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This commit adds the callback group events executor. It features: - multithreading support - correct handling of sim time - usage of the events subsystem Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
Signed-off-by: Janosch Machowinski <j.machowinski@cellumation.com>
…ager This code was copied straight from the executor and seems to be a workaround for the multithreaded executor, that breaks in this use case. The correct solution for us is to do the timer->call() from within the worker thread. This fixes a deadlock due to double acquisition of an internal lock within the timer manager. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
In case the next timer wakeup time is not changed by an insertion of a timer, don't wake up the timer thread. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
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This commit adds the callback group events executor. It features:
Description
This moved the events cbg executor from cm_executors into rlcpp mainline.
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