[DRAFT] Backports EventsExecutor from rolling/upstream #145
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* Deprecate callback_group call taking context Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Add base executor objects that can be used by implementors Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Template common operations Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Address reviewer feedback: * Add callback to EntitiesCollector constructor * Make function to check automatically added callback groups take a list Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Address reviewer feedback and fix templates Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint and docs Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Make executor own the notify waitable Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Add pending queue to collector, remove from waitable Also change node's get_guard_condition to return shared_ptr Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Change interrupt guard condition to shared_ptr Check if guard condition is valid before adding it to the waitable Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint and docs Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Utilize rclcpp::WaitSet as part of the executors Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Don't exchange atomic twice Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Fix add_node and add more tests Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Make get_notify_guard_condition follow API tick-tock Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Improve callback group tick-tocking Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Don't lock twice Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Address reviewer feedback Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Add thread safety annotations and make locks consistent Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * @wip Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Reset callback groups for multithreaded executor Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Avoid many small function calls when building executables Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Re-trigger guard condition if buffer has data Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Address reviewer feedback Signed-off-by: Michael Carroll <michael@openrobotics.org> * Trace points Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove tracepoints Signed-off-by: Michael Carroll <michael@openrobotics.org> * Reducing diff Signed-off-by: Michael Carroll <michael@openrobotics.org> * Reduce diff Signed-off-by: Michael Carroll <michael@openrobotics.org> * Uncrustify Signed-off-by: Michael Carroll <michael@openrobotics.org> * Restore tests Signed-off-by: Michael Carroll <michael@openrobotics.org> * Back to weak_ptr and reduce test time Signed-off-by: Michael Carroll <michael@openrobotics.org> * reduce diff and lint Signed-off-by: Michael Carroll <michael@openrobotics.org> * Restore static single threaded tests that weren't working before Signed-off-by: Michael Carroll <michael@openrobotics.org> * Restore more tests Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix multithreaded test Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix assert Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix constructor test Signed-off-by: Michael Carroll <michael@openrobotics.org> * Change ready_executables signature back Signed-off-by: Michael Carroll <michael@openrobotics.org> * Don't enforce removing callback groups before nodes Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove the "add_valid_node" API Signed-off-by: Michael Carroll <michael@openrobotics.org> * Only notify if the trigger condition is valid Signed-off-by: Michael Carroll <michael@openrobotics.org> * Only trigger if valid and needed Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix spin_some/spin_all implementation Signed-off-by: Michael Carroll <michael@openrobotics.org> * Restore single threaded executor Signed-off-by: Michael Carroll <michael@openrobotics.org> * Picking ABI-incompatible executor changes Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Add PIMPL Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Additional waitset prune Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Fix bad merge Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Expand test timeout Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Introduce method to clear expired entities from a collection Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Make sure to call remove_expired_entities(). Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Prune queued work when callback group is removed Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Prune subscriptions from dynamic storage Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Styles fixes. Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Re-trigger guard conditions Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Condense to just use watiable.take_data Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Address reviewer comments (nits) Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lock mutex when copying Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Refactors to static single threaded based on reviewers Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * More small refactoring Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Lint Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Add ready executable accessors to WaitResult Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Make use of accessors from wait_set Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Fix tests Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Fix more tests Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Tidy up single threaded executor implementation Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Don't null out timer, rely on call Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * change how timers are checked from wait result in executors Signed-off-by: William Woodall <william@osrfoundation.org> * peak -> peek Signed-off-by: William Woodall <william@osrfoundation.org> * fix bug in next_waitable logic Signed-off-by: William Woodall <william@osrfoundation.org> * fix bug in StaticSTE that broke the add callback groups to executor tests Signed-off-by: William Woodall <william@osrfoundation.org> * style Signed-off-by: William Woodall <william@osrfoundation.org> --------- Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: William Woodall <william@osrfoundation.org> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: William Woodall <william@osrfoundation.org>
The commit also includes a few test fixes and temporary comments allowing the unit-tests, and the full package, to build.
Get the upstream executor_notify_waitable.cpp/.hpp and the test_executors_timer_cancel_behavior unit-test
Signed-off-by: Alexis Tsogias <a.tsogias@cellumation.com> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Alexis Tsogias <a.tsogias@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
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* trigger guard condition waitset regardless of whether a trigger callback is present Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * restore mutex in guard_condition.cpp Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * remove whitespace Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * add unit-test Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * add documentation for trigger and set_on_trigger_callback Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
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This reverts commit a09f6f8.
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This PR merges the EventsExecutor from the official repository.