Add support for event handlers in Executor #10
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Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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Regarding issues with the existing code/architecture. It's not required, but feel free to open up issues upstream: https://github.com/ros2-java/ros2_java. I'd like to ultimately land changes there if possible. |
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What the title says ☝️ .
I haven't added a test for this yet.
I need first to have an event that I can trigger reliably, and I cannot do that with liveliness lost because a lot of API is missing for that (manually assert liveliness API, liveliness policy in QoSProfile, ...).
I think that I will add support to a different event type that can be triggered more easily (maybe I can still get a liveliness lost event with automatic liveliness, I have to double check).
We also should double check what subset of the events machinery we actually need.
On a different note, the current executor code is a bit complex and a lots of things could be simplified (there's a lot of unnecessary iterations that could be merged). I didn't aim to fix that here.
There's also an ownership problem: if you dispose a
Subscriptionand thatSubscriptionis being used in another thread by an Executor, a segfault is likely to happen.Last but not least: the multithreaded executor creates a bunch of threads that are mutually exclusive, so only one thread can do something at a time.
If wait/execute aren't decoupled the multithreaded executor isn't really useful 😂 .