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Improve readibility of reported thread ids in the multithreaded executor example #415

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Merged
fujitatomoya merged 4 commits into from
May 11, 2025
+10 −2
Merged

Improve readibility of reported thread ids in the multithreaded executor example #415

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61ec359
improve readibility of reported thread ids
jncfa May 9, 2025
61585b4
lint fixes
jncfa May 10, 2025
294ee19
apply changes from review
jncfa May 11, 2025
49de906
use cend for consistency
jncfa May 11, 2025
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12 changes: 10 additions & 2 deletions rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,11 +11,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <algorithm>
#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include <thread>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
Expand All @@ -27,8 +29,14 @@ using namespace std::chrono_literals;
**/
std::string string_thread_id()
{
auto hashed = std::hash<std::thread::id>()(std::this_thread::get_id());
return std::to_string(hashed);
static std::vector<std::thread::id> known_thread_ids {};
const auto thread_it = std::find(known_thread_ids.cbegin(), known_thread_ids.cend(),
std::this_thread::get_id());
if (thread_it != known_thread_ids.cend()) {
return std::to_string(std::distance(known_thread_ids.cbegin(), thread_it));
}
known_thread_ids.push_back(std::this_thread::get_id());
return std::to_string(known_thread_ids.size() - 1);
}

/* For this example, we will be creating a publishing node like the one in minimal_publisher.
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