From a48149f106135ff1671882d5deb3741c95c3910c Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@laas.fr>
Date: Sat, 2 Dec 2023 03:13:47 +0100
Subject: [PATCH] Add display the list of nodes and the number of threads.
---
include/dynamic_graph_bridge/ros.hpp | 5 +++++
src/ros.cpp | 25 +++++++++++++++++++++++++
2 files changed, 30 insertions(+)
diff --git a/include/dynamic_graph_bridge/ros.hpp b/include/dynamic_graph_bridge/ros.hpp
index bbf1e0e..5340598 100644
--- a/include/dynamic_graph_bridge/ros.hpp
+++ b/include/dynamic_graph_bridge/ros.hpp
@@ -67,6 +67,11 @@ typedef std_srvs::srv::Empty EmptyServiceType;
*/
RosNodePtr get_ros_node(std::string node_name);
+
+size_t ros_executor_get_nb_threads();
+
+void ros_display_list_of_nodes();
+
/**
* @brief Add a ros node to the global executor.
*
diff --git a/src/ros.cpp b/src/ros.cpp
index c306efc..dd07121 100644
--- a/src/ros.cpp
+++ b/src/ros.cpp
@@ -131,6 +131,13 @@ class Executor {
}
}
+ /**
+ * @brief Return the number of threads
+ */
+ size_t get_number_of_threads() {
+ return ros_executor_.get_number_of_threads();
+ }
+
private:
/**
* @brief Thread callback function
@@ -204,6 +211,7 @@ std::string executable_name() {
#endif
}
+
/**
* @brief Private function that allow us to initialize ROS only once.
*/
@@ -273,6 +281,23 @@ void ros_shutdown() {
// rclcpp::shutdown();
}
+size_t ros_executor_get_nb_threads() {
+ return get_ros_executor()->get_number_of_threads();
+}
+
+void ros_display_list_of_nodes() {
+ GlobalListOfRosNodeType::iterator ros_node_it =
+ GLOBAL_LIST_OF_ROS_NODE.begin();
+ while(ros_node_it!=GLOBAL_LIST_OF_ROS_NODE.end()) {
+ RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
+ "ros_display_list_of_nodes: %s/%s",
+ ros_node_it->second->get_namespace(),
+ ros_node_it->second->get_name());
+ ros_node_it++;
+ }
+
+}
+
void ros_clean() {
ros_stop_spinning();
GlobalListOfRosNodeType::iterator ros_node_it =
--
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