Add num_events arg

Signed-off-by: Mauro Passerino <[email protected]>

Author: Mauro Passerino

rclcpp/include/rclcpp/executors/events_executor.hpp

@@ -215,7 +215,7 @@ class EventsExecutor : public rclcpp::Executor
   // This function is called by the DDS entities when an event happened,
   // like a subscription receiving a message.
   static void
-  push_event(const void * event_data)
+  push_event(const void * event_data, size_t num_events)
   {
     if (!event_data) {
       throw std::runtime_error("Executor event data not valid.");
@@ -228,7 +228,9 @@ class EventsExecutor : public rclcpp::Executor
     // Event queue mutex scope
     {
       std::unique_lock<std::mutex> lock(this_executor->push_mutex_);
-      this_executor->events_queue_->push(data->event);
+      for (size_t i = 0; i < num_events; i++) {
+        this_executor->events_queue_->push(data->event);
+      }
     }
     // Notify that the event queue has some events in it.
     this_executor->events_queue_cv_.notify_one();

rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp

@@ -68,8 +68,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
       rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
         gc,
         callback,
-        user_data,
-        false);
+        user_data);
 
       if (RCL_RET_OK != ret) {
         throw std::runtime_error("Couldn't set guard condition events callback");

rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp

@@ -490,8 +490,7 @@ EventsExecutorEntitiesCollector::set_guard_condition_callback(
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     guard_condition,
     &EventsExecutor::push_event,
-    get_callback_data(this, WAITABLE_EVENT),
-    false /* Discard previous events */);
+    get_callback_data(this, WAITABLE_EVENT));
 
   if (ret != RCL_RET_OK) {
     throw std::runtime_error("Couldn't set guard condition event callback");
@@ -503,10 +502,7 @@ EventsExecutorEntitiesCollector::unset_guard_condition_callback(
   const rcl_guard_condition_t * guard_condition)
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
-    guard_condition,
-    nullptr,
-    nullptr,
-    false /* Discard previous events */);
+    guard_condition, nullptr, nullptr);
 
   if (ret != RCL_RET_OK) {
     throw std::runtime_error("Couldn't unset guard condition event callback");