executor

Callback dispatch, timers, and guard conditions. More...

Files
file	executor.h
	Callback executor (polling) API.
file	timer.h
	Periodic timer API.

Detailed Description

Callback dispatch, timers, and guard conditions.

rclc_executor_t polls the transport, drains ready data from subscriptions/services/clients/actions, and invokes their registered callbacks. rcl_timer_t fires on a wall-clock period; rcl_guard_condition_t is an explicit wake source you can trigger from any thread.

rclc_executor_t exec = rclc_executor_get_zero_initialized_executor();
rclc_executor_init(&exec, &support.context, 4, &allocator);
rclc_executor_add_subscription_raw(&exec, &sub, on_bytes, NULL,
                                   ON_NEW_DATA);
rclc_executor_spin_period(&exec, 10000000ULL);

See also

pubsub for callback-driven subscriptions

service for callback-driven service servers

action for callback-driven action servers