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34 changes: 34 additions & 0 deletions
34
rcljava/src/main/java/org/ros2/rcljava/executor/AnyExecutable.java
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| @@ -0,0 +1,34 @@ | ||
| /* Copyright 2017 Mickael Gaillard <mick.gaillard@gmail.com> | ||
| * | ||
| * 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. | ||
| */ | ||
| package org.ros2.rcljava.executor; | ||
|
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| import org.ros2.rcljava.node.Node; | ||
| import org.ros2.rcljava.node.service.Client; | ||
| import org.ros2.rcljava.node.service.Service; | ||
| import org.ros2.rcljava.node.topic.Subscription; | ||
| import org.ros2.rcljava.time.WallTimer; | ||
|
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| public class AnyExecutable { | ||
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| // Only one of the following pointers will be set. | ||
| protected Subscription<?> subscription = null; | ||
| protected WallTimer timer = null; | ||
| protected Service<?> service = null; | ||
| protected Client<?> client = null; | ||
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| // These are used to keep the scope on the containing items | ||
| protected Node node = null; | ||
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| } |
117 changes: 117 additions & 0 deletions
117
rcljava/src/main/java/org/ros2/rcljava/executor/BaseThreadedExecutor.java
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| /* Copyright 2017 Mickael Gaillard <mick.gaillard@gmail.com> | ||
| * | ||
| * 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. | ||
| */ | ||
| package org.ros2.rcljava.executor; | ||
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| import java.util.concurrent.BlockingQueue; | ||
| import java.util.concurrent.ExecutorService; | ||
| import java.util.concurrent.LinkedBlockingQueue; | ||
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| import org.ros2.rcljava.RCLJava; | ||
| import org.ros2.rcljava.node.Node; | ||
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| public abstract class BaseThreadedExecutor implements ThreadedExecutor { | ||
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| protected Object mutex = new Object(); | ||
| protected NativeExecutor baseExecutor; | ||
| protected volatile ExecutorService executorService; | ||
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| protected BlockingQueue<Node> nodes = new LinkedBlockingQueue<Node>(); | ||
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| public BaseThreadedExecutor() { | ||
| this.baseExecutor = new NativeExecutor(this); | ||
| } | ||
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| @Override | ||
| public void addNode(Node node) { | ||
| this.addNode(node, false); | ||
| } | ||
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| @Override | ||
| public void addNode(Node node, boolean notify) { | ||
| if (!this.nodes.contains(node)) { | ||
| this.nodes.add(node); | ||
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| if (notify) { | ||
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| } | ||
| } | ||
| } | ||
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| @Override | ||
| public void removeNode(Node node) { | ||
| this.removeNode(node, false); | ||
| } | ||
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| @Override | ||
| public void removeNode(Node node, boolean notify) { | ||
| if (this.nodes.contains(node)) { | ||
| this.nodes.remove(node); | ||
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| if (notify) { | ||
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| } | ||
| } | ||
| } | ||
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| @Override | ||
| public void spinSome() { | ||
| AnyExecutable anyExecutable = this.baseExecutor.getNextExecutable(); | ||
| while (RCLJava.ok() && anyExecutable != null) { | ||
| this.baseExecutor.executeAnyExecutable(anyExecutable); | ||
| anyExecutable = this.baseExecutor.getNextExecutable(0); | ||
| } | ||
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| } | ||
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| @Override | ||
| public void spinOnce(long timeout) { | ||
| AnyExecutable anyExecutable = this.baseExecutor.getNextExecutable(timeout); | ||
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| if (anyExecutable != null) { | ||
| this.baseExecutor.executeAnyExecutable(anyExecutable); | ||
| } | ||
| } | ||
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| @Override | ||
| public void spinNodeOnce(Node node, long timeout) { | ||
| this.addNode(node, false); | ||
| this.spinOnce(timeout); | ||
| this.removeNode(node, false); | ||
| } | ||
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| @Override | ||
| public void spinNodeSome(Node node) { | ||
| this.addNode(node, false); | ||
| this.spinSome(); | ||
| this.removeNode(node, false); | ||
| } | ||
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| @Override | ||
| public void run() { | ||
| while (RCLJava.ok()) { | ||
| synchronized (mutex) { | ||
| this.spinOnce(0); | ||
| } | ||
| } | ||
| } | ||
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| @Override | ||
| public void cancel() { | ||
| if (!this.executorService.isShutdown()) { | ||
| this.executorService.shutdownNow(); | ||
| } | ||
| } | ||
|
|
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| } |
115 changes: 115 additions & 0 deletions
115
rcljava/src/main/java/org/ros2/rcljava/executor/MemoryStrategy.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,115 @@ | ||
| /* Copyright 2017 Mickael Gaillard <mick.gaillard@gmail.com> | ||
| * | ||
| * 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. | ||
| */ | ||
| package org.ros2.rcljava.executor; | ||
|
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| import java.util.concurrent.BlockingQueue; | ||
| import java.util.concurrent.ConcurrentLinkedQueue; | ||
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| import org.ros2.rcljava.node.Node; | ||
| import org.ros2.rcljava.node.service.Client; | ||
| import org.ros2.rcljava.node.service.Service; | ||
| import org.ros2.rcljava.node.topic.Subscription; | ||
| import org.ros2.rcljava.time.WallTimer; | ||
|
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| public class MemoryStrategy { | ||
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| public ConcurrentLinkedQueue<Subscription<?>> subscriptionHandles = new ConcurrentLinkedQueue<Subscription<?>>(); | ||
| public ConcurrentLinkedQueue<WallTimer> timerHandles = new ConcurrentLinkedQueue<WallTimer>(); | ||
| public ConcurrentLinkedQueue<Service<?>> serviceHandles = new ConcurrentLinkedQueue<Service<?>>(); | ||
| public ConcurrentLinkedQueue<Client<?>> clientHandles = new ConcurrentLinkedQueue<Client<?>>(); | ||
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| public MemoryStrategy() { | ||
|
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| } | ||
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| public void clearHandles() { | ||
| this.subscriptionHandles.clear(); | ||
| this.timerHandles.clear(); | ||
| this.serviceHandles.clear(); | ||
| this.clientHandles.clear(); | ||
| } | ||
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| public boolean collectEntities(final BlockingQueue<Node> nodes) { | ||
| for (Node node : nodes) { | ||
| for (Subscription<?> subscription : node.getSubscriptions()) { | ||
| this.subscriptionHandles.add(subscription); | ||
| } | ||
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| for (Service<?> service : node.getServices()) { | ||
| this.serviceHandles.add(service); | ||
| } | ||
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| for (Client<?> client : node.getClients()) { | ||
| this.clientHandles.add(client); | ||
| } | ||
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| for (WallTimer timer : node.getWallTimers()) { | ||
| this.timerHandles.add(timer); | ||
| } | ||
| } | ||
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| return false; | ||
| } | ||
|
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| /** | ||
| * Provide a newly initialized AnyExecutable object. | ||
| * @return fresh executable. | ||
| */ | ||
| public AnyExecutable instantiateNextExecutable() { | ||
| return new AnyExecutable(); | ||
| } | ||
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| public void getNextSubscription(AnyExecutable anyExecutable, BlockingQueue<Node> nodes) { | ||
| Subscription<?> subscription = this.subscriptionHandles.poll(); | ||
| if (subscription != null) { | ||
| anyExecutable.subscription = subscription; | ||
| } | ||
| } | ||
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| public void getNextService(AnyExecutable anyExecutable, BlockingQueue<Node> nodes) { | ||
| Service<?> service = this.serviceHandles.poll(); | ||
| if (service != null) { | ||
| anyExecutable.service = service; | ||
| } | ||
| } | ||
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| public void getNextClient(AnyExecutable anyExecutable, BlockingQueue<Node> nodes) { | ||
| Client<?> client = this.clientHandles.poll(); | ||
| if (client != null) { | ||
| anyExecutable.client = client; | ||
| } | ||
| } | ||
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| public int numberOfReadySubscriptions() { | ||
| return this.subscriptionHandles.size(); | ||
| } | ||
|
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| public int numberOfReadyServices() { | ||
| return this.serviceHandles.size(); | ||
| } | ||
|
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| public int numberOfReadyClients() { | ||
| return this.clientHandles.size(); | ||
| } | ||
|
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| public int numberOfReadyTimers() { | ||
| return this.timerHandles.size(); | ||
| } | ||
| // public int number_of_guard_conditions() { | ||
| // return -1; | ||
| // } | ||
|
|
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| } |
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