create TimersManager class, implement spin() variants for EventsExecu…

…tor and fix unit tests

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

rclcpp/CMakeLists.txt

@@ -56,6 +56,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
+  src/rclcpp/executors/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp

rclcpp/include/rclcpp/executor.hpp

@@ -552,7 +552,7 @@ class Executor
   RCLCPP_DISABLE_COPY(Executor)
 
   RCLCPP_PUBLIC
-  void
+  virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
   typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,

rclcpp/include/rclcpp/executors.hpp

@@ -18,6 +18,7 @@
 #include <future>
 #include <memory>
 
+#include "rclcpp/executors/events_executor.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"

rclcpp/include/rclcpp/executors/events_executor.hpp

@@ -15,16 +15,17 @@
 #ifndef RCLCPP__EXECUTORS__EVENTS_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__EVENTS_EXECUTOR_HPP_
 
-#include <queue>
 #include <chrono>
+#include <memory>
+#include <queue>
+
+#include "rcutils/event_types.h"
 
 #include "rclcpp/executor.hpp"
 #include "rclcpp/executors/events_executor_entities_collector.hpp"
-#include "rclcpp/executors/timers_heap.hpp"
+#include "rclcpp/executors/timers_manager.hpp"
 #include "rclcpp/node.hpp"
 
-#include "rcutils/event_types.h"
-
 namespace rclcpp
 {
 namespace executors
@@ -46,6 +47,9 @@ class EventsExecutor : public rclcpp::Executor
   RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)
 
   /// Default constructor. See the default constructor for Executor.
+  /**
+   * \param[in] options Options used to configure the executor.
+   */
   RCLCPP_PUBLIC
   explicit EventsExecutor(
     const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
@@ -75,6 +79,10 @@ class EventsExecutor : public rclcpp::Executor
   void
   spin_some(std::chrono::nanoseconds max_duration) override;
 
+  RCLCPP_PUBLIC
+  void
+  spin_all(std::chrono::nanoseconds max_duration) override;
+
   /// Add a node to the executor.
   /**
    * \sa rclcpp::Executor::add_node
@@ -112,21 +120,30 @@ class EventsExecutor : public rclcpp::Executor
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
 
 protected:
-  /// Execute timers when ready
+  /// Waits for events and then executes them
   RCLCPP_PUBLIC
   void
-  spin_timers(bool spin_once);
+  handle_events();
 
-  /// Execute events in the queue until is empty
   RCLCPP_PUBLIC
   void
-  execute_events();
+  spin_once_impl(std::chrono::nanoseconds timeout) override;
 
 private:
   RCLCPP_DISABLE_COPY(EventsExecutor)
 
   EventsExecutorEntitiesCollector::SharedPtr entities_collector_;
 
+  /// Extract and execute events from the queue until it is empty
+  RCLCPP_PUBLIC
+  void
+  consume_all_events(std::queue<EventQ> &queue);
+
+  // Execute a single event
+  RCLCPP_PUBLIC
+  void
+  execute_event(const EventQ &event);
+
   // Executor callback: Push new events into the queue and trigger cv.
   // This function is called by the DDS entities when an event happened,
   // like a subscription receiving a message.
@@ -141,19 +158,19 @@ class EventsExecutor : public rclcpp::Executor
     {
       std::unique_lock<std::mutex> lock(this_executor->event_queue_mutex_);
 
-      this_executor->event_queue.push(event);
+      this_executor->event_queue_.push(event);
     }
     // Notify that the event queue has some events in it.
-    this_executor->event_queue_cv.notify_one();
+    this_executor->event_queue_cv_.notify_one();
   }
 
   // Event queue members
-  std::queue<EventQ> event_queue;
+  std::queue<EventQ> event_queue_;
   std::mutex event_queue_mutex_;
-  std::condition_variable event_queue_cv;
+  std::condition_variable event_queue_cv_;
 
   // Timers heap manager
-  TimersHeap timers;
+  std::shared_ptr<TimersManager> timers_manager_;
 };
 
 }  // namespace executors