Module executor 

Embedded executor with build-time configured arena.

Provides Executor and Node that work with the compile-time selected RMW backend (zenoh, XRCE-DDS, or C FFI).

Example

use nros_node::executor::*;
use std_msgs::msg::Int32;

let config = ExecutorConfig::from_env().node_name("my_node");
let mut executor = Executor::open(&config)?;
let mut node = executor.create_node("my_node")?;

let publisher = node.create_publisher::<Int32>("/chatter")?;
publisher.publish(&Int32 { data: 42 })?;

loop {
    executor.spin_once(core::time::Duration::from_millis(10));
}

Re-exports

pub use action::ActionClientRawHandle;

pub use action::ActionServerHandle;

pub use action::ActionServerRawHandle;

pub use action::RawActionClientSpec;

pub use action::RawActionServerSpec;

pub use action_core::ActionClientCore;

pub use action_core::ActionServerCore;

pub use action_core::RawActiveGoal;

pub use node_record::NodeBuilder;

pub use node_record::NodeId;

pub use node_record::NodeRecord;

Modules

action

Action server and client registration on the executor and handle types.

action_core

Type-agnostic action protocol core types.

handoff

Phase 104.E.3 — cross-priority handoff queue.

node_record

Phase 104.C.2 — multi-Node-per-Executor storage.

sched_context

Phase 110.B — SchedContext API + supporting types.

Structs

ActionClient

Typed action client handle.

ActionClientCallback

Send handle for a callback-based typed action client.

ActionServer

Typed action server with goal state management.

ActiveGoal

Active goal tracking for action server.

CompletedGoal

Completed goal with result.

EmbeddedPublisher

Typed publisher handle.

EmbeddedRawPublisher

Typeless publisher handle. Use when the wire format is not ROS CDR (e.g. PX4 uORB raw POD bytes, custom binary protocols).

EmbeddedServiceClient

Typed service client handle with internal buffers.

EmbeddedServiceServer

Typed service server handle with internal buffers.

Executor

ExecutorConfig

Configuration for opening an embedded executor session.

FeedbackStream

A stream of feedback messages from an action server.

GoalFeedbackStream

A goal-filtered feedback stream.

GuardConditionHandle

Handle for triggering a guard condition from outside the executor.

HandleId

Opaque handle identifier returned by registration methods.

HandleSet

A set of handle IDs, represented as a bitset.

LoanFuture

Future returned by EmbeddedRawPublisher::loan. Phase 99.H’ cancellation-safe variant: if dropped before resolving, it wakes the next pending waiter so the busy-flag-clear signal isn’t lost to the cancelled task.

NodeHandle

Backend-agnostic node — borrows the session to create typed entities.

Promise

A pending reply from a non-blocking service or action call.

PublishLoan

Writable loan into a EmbeddedRawPublisher’s slot.

RawServiceClient

Typeless service-client handle. L1 counterpart of EmbeddedServiceClient for the same audience as RawServiceServer.

RawServiceServer

Typeless service-server handle. L1 counterpart of EmbeddedServiceServer for callers that own their own scheduler (RTIC, embassy, FreeRTOS-task-per-entity) and the C / C++ FFI shims.

RawSubscription

Typeless subscription handle. Counterpart of EmbeddedRawPublisher.

ReadinessSnapshot

Snapshot of handle readiness at the start of a spin iteration.

RecvView

Read-only view into a RawSubscription’s receive buffer.

ServiceClientCallback

Send handle for a callback-based typed service client.

SessionHandle

Phase 228.E — an opaque, Send handle to an Executor’s RMW session.

SessionSpec

Phase 128.F.1 — per-backend session declaration for Executor::open_multi. Each spec names an RMW backend (must match one a backend registered under via nros_rmw_cffi_register_named / the RMW_INIT_ENTRIES linker section) and the locator + domain id to open against it.

SpinOnceResult

Result of a single spin iteration

SpinOptions

Options controlling blocking spin behavior.

SpinPeriodPollingResult

Result from a single period of polling execution (no_std compatible).

SpinPeriodResult

Result from a single period with wall-clock measurement (std only).

Subscription

Typed subscription handle with internal receive buffer.

Enums

ExecutorSemantics

Data communication semantics for the executor.

InvocationMode

Per-callback invocation mode.

LoanError

Error type for EmbeddedRawPublisher::try_loan.

NodeError

Error type for generic embedded node operations.

Trigger

Executor-level trigger condition.

Constants

DEFAULT_LOAN_BUF

Default size of each per-publisher arena slot, in bytes.

Type Aliases

RawAcceptedCallback

Raw accepted-goal hook.

RawCancelCallback

Raw action cancel callback.

RawFeedbackCallback

Raw action client feedback callback.

RawGoalCallback

Raw action goal callback that receives CDR bytes without deserialization.

RawGoalResponseCallback

Raw action client goal-response callback.

RawResponseCallback

Raw service-client response callback.

RawResultCallback

Raw action client result callback.

RawServiceCallback

Raw service callback that receives and produces CDR bytes.

RawSubscriptionCallback

Raw subscription callback that receives CDR bytes without deserialization.

RawSubscriptionInfoCallback

Raw subscription callback that also receives the incoming sample’s wire-level attachment (Phase 189.M3.4 — the C analog of the Rust FnMut(&[u8], &RawMessageInfo) builder path). attachment is valid for attachment_len bytes during the call; attachment_len == 0 means the sample carried no attachment. Cross-RMW bridges read the bridge_origin tag from it.