CallbackGroup centric executor

rclcpp/CMakeLists.txt

@@ -63,6 +63,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
+  src/rclcpp/executors/cbg_executor.cpp
+  src/rclcpp/executors/detail/weak_executable_with_rcl_handle_cache.cpp
   src/rclcpp/executors/executor_entities_collection.cpp
   src/rclcpp/executors/executor_entities_collector.cpp
   src/rclcpp/executors/executor_notify_waitable.cpp

rclcpp/include/rclcpp/executor.hpp

@@ -476,6 +476,7 @@ class Executor
   void
   execute_any_executable(AnyExecutable & any_exec);
 
+public:
   /// Run subscription executable.
   /**
    * Do necessary setup and tear-down as well as executing the subscription.
@@ -484,7 +485,7 @@ class Executor
   RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
+    const rclcpp::SubscriptionBase::SharedPtr &subscription);
 
   /// Run timer executable.
   /**
@@ -502,7 +503,7 @@ class Executor
    */
   RCLCPP_PUBLIC
   static void
-  execute_service(rclcpp::ServiceBase::SharedPtr service);
+  execute_service(const rclcpp::ServiceBase::SharedPtr &service);
 
   /// Run service client executable.
   /**
@@ -511,8 +512,9 @@ class Executor
    */
   RCLCPP_PUBLIC
   static void
-  execute_client(rclcpp::ClientBase::SharedPtr client);
+  execute_client(const rclcpp::ClientBase::SharedPtr &client);
 
+protected:
   /// Block until more work becomes avilable or timeout is reached.
   /**
    * Builds a set of waitable entities, which are passed to the middleware.

rclcpp/include/rclcpp/executors.hpp

@@ -79,10 +79,11 @@ using rclcpp::executors::SingleThreadedExecutor;
  *   If the time spent inside the blocking loop exceeds this timeout, return a `TIMEOUT` return code.
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
-template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+template<typename FutureT, typename Executor, typename TimeRepT = int64_t,
+  typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::Executor & executor,
+  Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -95,11 +96,12 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
+template<typename NodeT = rclcpp::Node, typename FutureT, typename Executor,
+  typename TimeRepT = int64_t,
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::Executor & executor,
+  Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))