feat: Added new CBGExecutor

Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> # Conflicts: # rclcpp/include/rclcpp/executor.hpp # rclcpp/src/rclcpp/executor.cpp # rclcpp/test/rclcpp/executors/test_executors.cpp
ros2 · Feb 3, 2024 · 27cc9ac · 27cc9ac
1 parent 261a69b
commit 27cc9ac
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Showing 9 changed files with 3,164 additions and 50 deletions.
diff --git a/rclcpp/CMakeLists.txt b/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

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -485,7 +485,7 @@ class Executor
   RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
+    const rclcpp::SubscriptionBase::SharedPtr &subscription);
 
   /// Run timer executable.
   /**
@@ -503,7 +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.
   /**
@@ -512,7 +512,7 @@ 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.