Added support for executors

rclcpp/include/rclcpp/callback_group.hpp

@@ -0,0 +1,75 @@
+/* Copyright 2014 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_RCLCPP_CALLBACK_GROUP_HPP_
+#define RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
+
+#include <atomic>
+#include <string>
+#include <vector>
+
+#include <rclcpp/subscription.hpp>
+#include <rclcpp/timer.hpp>
+
+namespace rclcpp
+{
+
+// Forward declarations for friend statement in class CallbackGroup
+namespace node {class Node;}
+namespace executor {class Executor;}
+
+namespace callback_group
+{
+
+enum class CallbackGroupType {MutuallyExclusive, Reentrant};
+
+class CallbackGroup
+{
+  friend class rclcpp::node::Node;
+  friend class rclcpp::executor::Executor;
+public:
+  RCLCPP_MAKE_SHARED_DEFINITIONS(CallbackGroup);
+
+  CallbackGroup(CallbackGroupType group_type)
+    : type_(group_type), can_be_taken_from_(true)
+  {}
+
+private:
+  RCLCPP_DISABLE_COPY(CallbackGroup);
+
+  void
+  add_subscription(
+    const subscription::SubscriptionBase::SharedPtr &subscription_ptr)
+  {
+    subscription_ptrs_.push_back(subscription_ptr);
+  }
+
+  void
+  add_timer(const timer::TimerBase::SharedPtr &timer_ptr)
+  {
+    timer_ptrs_.push_back(timer_ptr);
+  }
+
+  CallbackGroupType type_;
+  std::vector<subscription::SubscriptionBase::SharedPtr> subscription_ptrs_;
+  std::vector<timer::TimerBase::SharedPtr> timer_ptrs_;
+  std::atomic_bool can_be_taken_from_;
+
+};
+
+} /* namespace callback_group */
+} /* namespace rclcpp */
+
+#endif /* RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_ */

rclcpp/include/rclcpp/context.hpp

@@ -0,0 +1,44 @@
+/* Copyright 2014 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_RCLCPP_CONTEXT_HPP_
+#define RCLCPP_RCLCPP_CONTEXT_HPP_
+
+#include <memory>
+
+#include <rclcpp/macros.hpp>
+
+namespace rclcpp
+{
+namespace context
+{
+
+/* ROS Context */
+class Context
+{
+public:
+  RCLCPP_MAKE_SHARED_DEFINITIONS(Context);
+
+  Context() {}
+
+private:
+  RCLCPP_DISABLE_COPY(Context);
+
+};
+
+} /* namespace context */
+} /* namespace rclcpp */
+
+#endif /* RCLCPP_RCLCPP_CONTEXT_HPP_ */

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -0,0 +1,41 @@
+/* Copyright 2014 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_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
+#define RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
+
+#include <rclcpp/context.hpp>
+
+namespace rclcpp
+{
+namespace contexts
+{
+namespace default_context
+{
+
+class DefaultContext : public rclcpp::context::Context
+{
+public:
+  RCLCPP_MAKE_SHARED_DEFINITIONS(DefaultContext);
+
+  DefaultContext() {}
+
+};
+
+}
+}
+}
+
+#endif /* RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_ */