Class ExecutorRef

src/interface/aimrt_module_cpp_interface/executor/executor.h:21–104

using Task = aimrt::util::Function<aimrt_function_executor_task_ops_t>;

class ExecutorRef {
 public:
  ExecutorRef() = default;
  explicit ExecutorRef(const aimrt_executor_base_t* base_ptr)
      : base_ptr_(base_ptr) {}
  ~ExecutorRef() = default;

  explicit operator bool() const { return (base_ptr_ != nullptr); }

  const aimrt_executor_base_t* NativeHandle() const { return base_ptr_; }

  std::string_view Type() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return aimrt::util::ToStdStringView(base_ptr_->type(base_ptr_->impl));
  }

  std::string_view Name() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return aimrt::util::ToStdStringView(base_ptr_->name(base_ptr_->impl));
  }

  bool ThreadSafe() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return base_ptr_->is_thread_safe(base_ptr_->impl);
  }

  bool IsInCurrentExecutor() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return base_ptr_->is_in_current_executor(base_ptr_->impl);
  }

  bool SupportTimerSchedule() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return base_ptr_->is_support_timer_schedule(base_ptr_->impl);
  }

  void Execute(Task&& task) {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    base_ptr_->execute(base_ptr_->impl, task.NativeHandle());
  }

  void Dispatch(Task&& task) {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    if (base_ptr_->is_in_current_executor(base_ptr_->impl)) {
      task();
    } else {
      base_ptr_->execute(base_ptr_->impl, task.NativeHandle());
    }
  }

  std::chrono::system_clock::time_point Now() const {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");
    return common::util::GetTimePointFromTimestampNs(base_ptr_->now(base_ptr_->impl));
  }

  void ExecuteAt(std::chrono::system_clock::time_point tp, Task&& task) {
    AIMRT_ASSERT(base_ptr_, "Reference is null.");