Add num events to ExecutorEvent struct

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

Author: Mauro Passerino

rclcpp/include/rclcpp/executors/events_executor.hpp

@@ -224,13 +224,13 @@ class EventsExecutor : public rclcpp::Executor
     auto data = static_cast<const executors::EventsExecutorCallbackData *>(event_data);
 
     executors::EventsExecutor * this_executor = data->executor;
+    ExecutorEvent event = data->event;
+    event.num_events = num_events;
 
     // Event queue mutex scope
     {
       std::unique_lock<std::mutex> lock(this_executor->push_mutex_);
-      for (size_t i = 0; i < num_events; i++) {
-        this_executor->events_queue_->push(data->event);
-      }
+      this_executor->events_queue_->push(event);
     }
     // Notify that the event queue has some events in it.
     this_executor->events_queue_cv_.notify_one();

rclcpp/include/rclcpp/executors/events_executor_event_types.hpp

@@ -35,6 +35,7 @@ struct ExecutorEvent
 {
   const void * entity_id;
   ExecutorEventType type;
+  size_t num_events;
 };
 
 // The EventsExecutorCallbackData struct is what the listeners

rclcpp/include/rclcpp/experimental/buffers/simple_events_queue.hpp

@@ -48,7 +48,9 @@ class SimpleEventsQueue : public EventsQueue
   void
   push(const rclcpp::executors::ExecutorEvent & event)
   {
-    event_queue_.push(event);
+    for (size_t i = 0; i < event.num_events; i++) {
+      event_queue_.push(event);
+    }
   }
 
   /**

rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp

@@ -603,7 +603,7 @@ EventsExecutorEntitiesCollector::get_callback_data(
 {
   // Create an entity callback data object and check if
   // we already have stored one like it
-  ExecutorEvent event = {entity_id, event_type};
+  ExecutorEvent event = {entity_id, event_type, 0};
   EventsExecutorCallbackData data(associated_executor_, event);
 
   auto it = callback_data_map_.find(data);
@@ -630,7 +630,7 @@ EventsExecutorEntitiesCollector::remove_callback_data(
 {
   // Create an entity callback data object and check if
   // we already have stored one like it
-  ExecutorEvent event = {entity_id, event_type};
+  ExecutorEvent event = {entity_id, event_type, 0};
   EventsExecutorCallbackData data(associated_executor_, event);
 
   auto it = callback_data_map_.find(data);