X-lanni
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
// Copyright (c) 2019 Intel Corporation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include "nav2_util/node_thread.hpp"
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namespace nav2_util
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{
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NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base)
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: node_(node_base)
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{
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executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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thread_ = std::make_unique<std::thread>(
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[&]()
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{
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executor_->add_node(node_);
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executor_->spin();
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executor_->remove_node(node_);
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});
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}
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NodeThread::NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor)
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: executor_(executor)
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{
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thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});
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}
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NodeThread::~NodeThread()
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{
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executor_->cancel();
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thread_->join();
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}
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} // namespace nav2_util
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