realtime_tools::AsyncFunctionHandlerParams Struct Reference

The AsyncFunctionHandlerParams struct is used to configure the AsyncFunctionHandler. If the type is SYNCHRONIZED, the async worker thread will be synchronized with the main thread, as the main thread will be triggering the async callback method. If the type is DETACHED, the async worker thread will be detached from the main thread and will have its own execution cycle. More...

#include <async_function_handler.hpp>

Collaboration diagram for realtime_tools::AsyncFunctionHandlerParams:

Public Member Functions
bool	validate () const
	Validate the parameters.
template<typename NodeT >
void	initialize (NodeT &node, const std::string &prefix)
	Initialize the parameters from a node's parameters. The node should have the following parameters:

Public Attributes
int	thread_priority = 50
std::vector< int >	cpu_affinity_cores = {}
AsyncSchedulingPolicy	scheduling_policy = AsyncSchedulingPolicy::SYNCHRONIZED
unsigned int	exec_rate = 0u
rclcpp::Clock::SharedPtr	clock = nullptr
rclcpp::Logger	logger = rclcpp::get_logger("AsyncFunctionHandler")
std::function< bool()>	trigger_predicate = []() { return true; }
bool	wait_until_initial_trigger = true
bool	print_warnings = true

Detailed Description

The AsyncFunctionHandlerParams struct is used to configure the AsyncFunctionHandler. If the type is SYNCHRONIZED, the async worker thread will be synchronized with the main thread, as the main thread will be triggering the async callback method. If the type is DETACHED, the async worker thread will be detached from the main thread and will have its own execution cycle.

Parameters

thread_priority	Priority of the async worker thread. Should be between 0 and 99.
cpu_affinity_cores	CPU cores to which the async worker thread should be pinned. If empty, the thread will not be pinned to any CPU core.
scheduling_policy	Scheduling policy for the async worker thread. Can be either SYNCHRONIZED or DETACHED.
exec_rate	Execution rate of the async worker thread in Hz. Only used if the scheduling_policy is DETACHED. Must be a positive integer.
clock	Clock to be used for the async worker thread. Only used if the scheduling_policy is DETACHED.
logger	Logger to be used for the async worker thread. If not set, a default logger will be used.
trigger_predicate	Predicate function to check if the async callback method should be triggered or not. If not set, the async callback method will be triggered every time.
wait_until_initial_trigger	Whether to wait until the initial trigger predicate is true before starting the async callback method. If true, the async callback method will not be called until the trigger predicate returns true for the first time. Very useful when the type is DETACHED.
print_warnings	Whether to print warnings when the async callback method is not triggered due to any reason.

Member Function Documentation

initialize()

template<typename NodeT >

void realtime_tools::AsyncFunctionHandlerParams::initialize ( NodeT &  node, const std::string &  prefix  )

inline

Initialize the parameters from a node's parameters. The node should have the following parameters:

• thread_priority (int): Priority of the async worker thread. Default is 50.
• cpu_affinity (int[]): CPU cores to which the async worker thread should be pinned. Default is empty, which means the thread will not be pinned to any CPU core.
• scheduling_policy (string): Scheduling policy for the async worker thread. Can be either "synchronized" or "detached". Default is "synchronized".
• execution_rate (int): Execution rate of the async worker thread in Hz.
• wait_until_initial_trigger (bool): Whether to wait until the initial trigger predicate is true before starting the async callback method. Default is true.
• print_warnings (bool): Whether to print warnings when the async callback method is not triggered due to any reason. Default is true.

  Parameters

  node	The node that is used to get the parameters.
  prefix	Parameter prefix to use when accessing node parameters.

validate()

bool realtime_tools::AsyncFunctionHandlerParams::validate ( ) const

inline

Validate the parameters.

Returns

true if the parameters are valid, false otherwise.

Exceptions

std::runtime_error

if the scheduling policy is UNKNOWN.

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The documentation for this struct was generated from the following file:

• realtime_tools/realtime_tools/include/realtime_tools/async_function_handler.hpp