Create common structures for executors to use

rclcpp/CMakeLists.txt

@@ -54,6 +54,9 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
+  src/rclcpp/executors/executor_entities_collection.cpp
+  src/rclcpp/executors/executor_entities_collector.cpp
+  src/rclcpp/executors/executor_notify_waitable.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp

rclcpp/include/rclcpp/callback_group.hpp

@@ -93,11 +93,54 @@ class CallbackGroup
    *   determines whether a callback group is automatically added to an executor
    *   with the node with which it is associated.
    */
+  [[deprecated("Use CallbackGroup constructor with context function argument")]]
   RCLCPP_PUBLIC
   explicit CallbackGroup(
     CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
+  /// 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] get_node_context Lambda to retrieve the node context when
+   *   checking that the creating node is valid and using the guard condition.
+   * \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,
+    std::function<rclcpp::Context::SharedPtr(void)> get_node_context,
+    bool automatically_add_to_executor_with_node = true);
+
   /// Default destructor.
   RCLCPP_PUBLIC
   ~CallbackGroup();
@@ -137,6 +180,18 @@ class CallbackGroup
     return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
   }
 
+  /// Return if the node that created this callback group still exists
+  /**
+   * As nodes can share ownership of callback groups with an executor, this
+   * may be used to ensure that the executor doesn't operate on a callback
+   * group that has outlived it's creating node.
+   *
+   * \return true if the creating node still exists, otherwise false
+   */
+  RCLCPP_PUBLIC
+  bool
+  has_valid_node() const;
+
   RCLCPP_PUBLIC
   std::atomic_bool &
   can_be_taken_from();
@@ -178,11 +233,24 @@ class CallbackGroup
   bool
   automatically_add_to_executor_with_node() const;
 
-  /// Defer creating the notify guard condition and return it.
+  /// Retrieve the guard condition used to signal changes to this callback group.
+  /**
+   * \param[in] context_ptr context to use when creating the guard condition
+   * \return guard condition if it is valid, otherwise nullptr.
+   */
+  [[deprecated("Use get_notify_guard_condition() without arguments")]]
   RCLCPP_PUBLIC
   rclcpp::GuardCondition::SharedPtr
   get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr);
 
+  /// Retrieve the guard condition used to signal changes to this callback group.
+  /**
+   * \return guard condition if it is valid, otherwise nullptr.
+   */
+  RCLCPP_PUBLIC
+  rclcpp::GuardCondition::SharedPtr
+  get_notify_guard_condition();
+
   /// Trigger the notify guard condition.
   RCLCPP_PUBLIC
   void
@@ -234,6 +302,8 @@ class CallbackGroup
   std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_ = nullptr;
   std::recursive_mutex notify_guard_condition_mutex_;
 
+  std::function<rclcpp::Context::SharedPtr(void)> get_context_;
+
 private:
   template<typename TypeT, typename Function>
   typename TypeT::SharedPtr _find_ptrs_if_impl(

rclcpp/include/rclcpp/executor.hpp

@@ -637,8 +637,9 @@ class Executor
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rclcpp::GuardCondition interrupt_guard_condition_;
+  std::shared_ptr<rclcpp::GuardCondition> interrupt_guard_condition_;
 
+  /// Guard condition for signaling the rmw layer to wake up for system shutdown.
   std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
   /// Wait set for managing entities that the rmw layer waits on.

rclcpp/include/rclcpp/executors/executor_entities_collection.hpp

@@ -0,0 +1,212 @@
+// Copyright 2023 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__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
+
+#include <deque>
+#include <functional>
+#include <unordered_map>
+#include <vector>
+
+#include <rclcpp/any_executable.hpp>
+#include <rclcpp/node_interfaces/node_base.hpp>
+#include <rclcpp/callback_group.hpp>
+#include <rclcpp/executors/executor_notify_waitable.hpp>
+#include <rclcpp/visibility_control.hpp>
+#include <rclcpp/wait_result.hpp>
+#include <rclcpp/wait_set.hpp>
+
+namespace rclcpp
+{
+namespace executors
+{
+
+/// Structure to represent a single entity's entry in a collection
+template<typename EntityValueType>
+struct CollectionEntry
+{
+  /// Weak pointer to entity type
+  using EntityWeakPtr = typename EntityValueType::WeakPtr;
+  /// Shared pointer to entity type
+  using EntitySharedPtr = typename EntityValueType::SharedPtr;
+
+  /// The entity
+  EntityWeakPtr entity;
+
+  /// If relevant, the entity's corresponding callback_group
+  rclcpp::CallbackGroup::WeakPtr callback_group;
+};
+
+/// Update a collection based on another collection
+/*
+ * Iterates update_from and update_to to see which entities have been added/removed between
+ * the two collections.
+ *
+ * For each new entry (in update_from, but not in update_to),
+ *   add the entity and fire the on_added callback
+ * For each removed entry (in update_to, but not in update_from),
+ *   remove the entity and fire the on_removed callback.
+ *
+ *  \param[in] update_from The collection representing the next iteration's state
+ *  \param[inout] update_to The collection representing the current iteration's state
+ *  \param[in] on_added Callback fired when a new entity is detected
+ *  \param[in] on_removed Callback fired when an entity is removed
+ */
+template<typename CollectionType>
+void update_entities(
+  const CollectionType & update_from,
+  CollectionType & update_to,
+  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_added,
+  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_removed
+)
+{
+  for (auto it = update_to.begin(); it != update_to.end(); ) {
+    if (update_from.count(it->first) == 0) {
+      auto entity = it->second.entity.lock();
+      if (entity) {
+        on_removed(entity);
+      }
+      it = update_to.erase(it);
+    } else {
+      ++it;
+    }
+  }
+  for (auto it = update_from.begin(); it != update_from.end(); ++it) {
+    if (update_to.count(it->first) == 0) {
+      auto entity = it->second.entity.lock();
+      if (entity) {
+        on_added(entity);
+      }
+      update_to.insert(*it);
+    }
+  }
+}
+
+/// A collection of entities, indexed by their corresponding handles
+template<typename EntityKeyType, typename EntityValueType>
+class EntityCollection
+  : public std::unordered_map<const EntityKeyType *, CollectionEntry<EntityValueType>>
+{
+public:
+  /// Key type of the map
+  using Key = const EntityKeyType *;
+
+  /// Weak pointer to entity type
+  using EntityWeakPtr = typename EntityValueType::WeakPtr;
+
+  /// Shared pointer to entity type
+  using EntitySharedPtr = typename EntityValueType::SharedPtr;
+
+  /// Update this collection based on the contents of another collection
+  /**
+   * Update the internal state of this collection, firing callbacks when entities have been
+   * added or removed.
+   *
+   * \param[in] other Collection to compare to
+   * \param[in] on_added Callback for when entities have been added
+   * \param[in] on_removed Callback for when entities have been removed
+   */
+  void update(
+    const EntityCollection<EntityKeyType, EntityValueType> & other,
+    std::function<void(const EntitySharedPtr &)> on_added,
+    std::function<void(const EntitySharedPtr &)> on_removed)
+  {
+    update_entities(other, *this, on_added, on_removed);
+  }
+};
+
+/// Represent the total set of entities for a single executor
+/**
+ * This allows the entities to be stored from ExecutorEntitiesCollector.
+ * The structure also makes in convenient to re-evaluate when entities have been added or removed.
+ */
+struct ExecutorEntitiesCollection
+{
+  /// Collection type for timer entities
+  using TimerCollection = EntityCollection<rcl_timer_t, rclcpp::TimerBase>;
+
+  /// Collection type for subscription entities
+  using SubscriptionCollection = EntityCollection<rcl_subscription_t, rclcpp::SubscriptionBase>;
+
+  /// Collection type for client entities
+  using ClientCollection = EntityCollection<rcl_client_t, rclcpp::ClientBase>;
+
+  /// Collection type for service entities
+  using ServiceCollection = EntityCollection<rcl_service_t, rclcpp::ServiceBase>;
+
+  /// Collection type for waitable entities
+  using WaitableCollection = EntityCollection<rclcpp::Waitable, rclcpp::Waitable>;
+
+  /// Collection type for guard condition entities
+  using GuardConditionCollection = EntityCollection<rcl_guard_condition_t, rclcpp::GuardCondition>;
+
+  /// Collection of timers currently in use by the executor.
+  TimerCollection timers;
+
+  /// Collection of subscriptions currently in use by the executor.
+  SubscriptionCollection subscriptions;
+
+  /// Collection of clients currently in use by the executor.
+  ClientCollection clients;
+
+  /// Collection of services currently in use by the executor.
+  ServiceCollection services;
+
+  /// Collection of guard conditions currently in use by the executor.
+  GuardConditionCollection guard_conditions;
+
+  /// Collection of waitables currently in use by the executor.
+  WaitableCollection waitables;
+
+  /// Check if the entities collection is empty
+  /**
+   * \return true if all member collections are empty, false otherwise
+  */
+  bool empty() const;
+
+  /// Clear the entities collection
+  void clear();
+};
+
+/// Build an entities collection from callback groups
+/**
+ * Iterates a list of callback groups and adds entities from each valid group
+ *
+ * \param[in] callback_groups List of callback groups to check for entities
+ * \param[inout] colletion Entities collection to populate with found entities
+ */
+void
+build_entities_collection(
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> & callback_groups,
+  ExecutorEntitiesCollection & collection);
+
+/// Build a queue of executables ready to be executed
+/**
+ * Iterates a list of entities and adds them to a queue if they are ready.
+ *
+ * \param[in] collection Collection of entities corresponding to the current wait set.
+ * \param[in] wait_result Result of rclcpp::WaitSet::wait corresponding to the collection.
+ * \return A queue of executables that have been marked ready by the waitset.
+ */
+std::deque<rclcpp::AnyExecutable>
+ready_executables(
+  const ExecutorEntitiesCollection & collection,
+  rclcpp::WaitResult<rclcpp::WaitSet> & wait_result
+);
+
+}  // namespace executors
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_