feat: Added new CBGExecutor

Signed-off-by: Janosch Machowinski <[email protected]>

Author: Janosch Machowinski

rclcpp/CMakeLists.txt

@@ -62,6 +62,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
+  src/rclcpp/executors/cbg_executor.cpp
   src/rclcpp/executors/executor_entities_collection.cpp
   src/rclcpp/executors/executor_entities_collector.cpp
   src/rclcpp/executors/executor_notify_waitable.cpp

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -20,6 +20,7 @@
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/cbg_executor.hpp"
 #include "rcpputils/scope_exit.hpp"
 #include "test_msgs/msg/empty.hpp"
 
@@ -145,6 +146,12 @@ BENCHMARK_F(PerformanceTestExecutor, multi_thread_executor_spin_some)(benchmark:
   executor_spin_some<rclcpp::executors::MultiThreadedExecutor>(st);
 }
 
+BENCHMARK_F(PerformanceTestExecutor, cbg_executor_spin_some)(benchmark::State & st)
+{
+  executor_spin_some<rclcpp::executors::CBGExecutor>(st);
+}
+
+
 BENCHMARK_F(PerformanceTestExecutor, single_thread_executor_wait_for_work)(benchmark::State & st)
 {
   benchmark_wait_for_work<rclcpp::executors::SingleThreadedExecutor>(st);
@@ -155,6 +162,11 @@ BENCHMARK_F(PerformanceTestExecutor, multi_thread_executor_wait_for_work)(benchm
   benchmark_wait_for_work<rclcpp::executors::MultiThreadedExecutor>(st);
 }
 
+BENCHMARK_F(PerformanceTestExecutor, cbg_executor_wait_for_work)(benchmark::State & st)
+{
+  benchmark_wait_for_work<rclcpp::executors::CBGExecutor>(st);
+}
+
 class CascadedPerformanceTestExecutor : public PerformanceTest
 {
 public:
@@ -238,11 +250,16 @@ BENCHMARK_F(CascadedPerformanceTestExecutor, multi_thread_executor_spin_some)(be
   executor_spin_some<rclcpp::executors::MultiThreadedExecutor>(st);
 }
 
+BENCHMARK_F(CascadedPerformanceTestExecutor, cbg_executor_spin_some)(benchmark::State & st)
+{
+  executor_spin_some<rclcpp::executors::CBGExecutor>(st);
+}
 
 
 class PerformanceTestExecutorMultipleCallbackGroups : public PerformanceTest
 {
 public:
+//   static constexpr unsigned int kNumberOfNodes = 20;
 
   void SetUp(benchmark::State & st)
   {
@@ -336,6 +353,12 @@ BENCHMARK_F(
 {
   executor_spin_some<rclcpp::executors::MultiThreadedExecutor>(st);
 }
+
+BENCHMARK_F(
+  PerformanceTestExecutorMultipleCallbackGroups,
+  cbg_executor_spin_some)(benchmark::State & st)
+{
+  executor_spin_some<rclcpp::executors::CBGExecutor>(st);
 }
 
 class PerformanceTestExecutorSimple : public PerformanceTest
@@ -465,6 +488,16 @@ BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_remove_node)(be
   remove_node<rclcpp::executors::MultiThreadedExecutor>(st);
 }
 
+BENCHMARK_F(PerformanceTestExecutorSimple, cbg_executor_add_node)(benchmark::State & st)
+{
+  add_node<rclcpp::executors::CBGExecutor>(st);
+}
+
+BENCHMARK_F(PerformanceTestExecutorSimple, cbg_executor_remove_node)(benchmark::State & st)
+{
+  remove_node<rclcpp::executors::CBGExecutor>(st);
+}
+
 BENCHMARK_F(
   PerformanceTestExecutorSimple,
   static_single_thread_executor_add_node)(benchmark::State & st)
@@ -493,6 +526,13 @@ BENCHMARK_F(
   spin_node_until_future_complete<rclcpp::executors::MultiThreadedExecutor>(st);
 }
 
+BENCHMARK_F(
+  PerformanceTestExecutorSimple,
+  cbg_executor_spin_node_until_future_complete)(benchmark::State & st)
+{
+  spin_node_until_future_complete<rclcpp::executors::CBGExecutor>(st);
+}
+
 BENCHMARK_F(
   PerformanceTestExecutorSimple,
   static_single_thread_executor_spin_node_until_future_complete)(benchmark::State & st)

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -36,6 +36,7 @@
 #include "rclcpp/duration.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/cbg_executor.hpp"
 
 #include "test_msgs/msg/empty.hpp"
 
@@ -89,6 +90,7 @@ using ExecutorTypes =
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor,
   rclcpp::executors::StaticSingleThreadedExecutor,
+  rclcpp::executors::CBGExecutor,
   rclcpp::experimental::executors::EventsExecutor>;
 
 class ExecutorTypeNames
@@ -110,6 +112,10 @@ class ExecutorTypeNames
       return "StaticSingleThreadedExecutor";
     }
 
+    if (std::is_same<T, rclcpp::executors::CBGExecutor>()) {
+      return "CallbackGroupExecutor";
+    }
+
     if (std::is_same<T, rclcpp::experimental::executors::EventsExecutor>()) {
       return "EventsExecutor";
     }
@@ -128,6 +134,7 @@ using StandardExecutors =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor,
+  rclcpp::executors::CBGExecutor,
   rclcpp::experimental::executors::EventsExecutor>;
 TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);