Merge pull request #1871 from ros2/asoragna/executor-is-spinning

add is_spinning() method to executor base class

rclcpp/include/rclcpp/executor.hpp

@@ -401,6 +401,15 @@ class Executor
  void
  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
 
+ /// Returns true if the executor is currently spinning.
+ /**
+ * This function can be called asynchronously from any thread.
+ * \return True if the executor is currently spinning.
+ */
+ RCLCPP_PUBLIC
+ bool
+ is_spinning();
+
 protected:
  RCLCPP_PUBLIC
  void

rclcpp/src/rclcpp/executor.cpp

@@ -928,3 +928,9 @@ Executor::has_node(
  return other_ptr == node_ptr;
  }) != weak_groups_to_nodes.end();
 }
+
+bool
+Executor::is_spinning()
+{
+ return spinning;
+}

rclcpp/test/rclcpp/test_executor.cpp

@@ -556,3 +556,24 @@ TEST_F(TestExecutor, spin_until_future_complete_future_already_complete) {
  rclcpp::FutureReturnCode::SUCCESS,
  dummy.spin_until_future_complete(future, std::chrono::milliseconds(1)));
 }
+
+TEST_F(TestExecutor, is_spinning) {
+ DummyExecutor dummy;
+ ASSERT_FALSE(dummy.is_spinning());
+
+ auto node = std::make_shared<rclcpp::Node>("node", "ns");
+ bool timer_called = false;
+ auto timer =
+ node->create_wall_timer(
+ std::chrono::milliseconds(1), [&]() {
+ timer_called = true;
+ EXPECT_TRUE(dummy.is_spinning());
+ });
+
+ dummy.add_node(node);
+ // Wait for the wall timer to have expired.
+ std::this_thread::sleep_for(std::chrono::milliseconds(50));
+ dummy.spin_some(std::chrono::milliseconds(1));
+
+ ASSERT_TRUE(timer_called);
+}