fixups

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/include/rclcpp/executor.hpp

@@ -82,10 +82,11 @@ class Executor
   virtual void
   spin() = 0;
 
+  /// Version of spin() that takes an exception handler to be called when a callback throws.
   /**
    * \sa rclcpp::Executor:spin() for more details
    * \throws std::runtime_error when spin() called while already spinning
-   * @param exception_handler will be called for every exception in the processing threads
+   * \param[in] exception_handler will be called for every exception in the processing threads
    *
    * The exception_handler can be called from multiple threads at the same time.
    * The exception_handler shall rethrow the exception it if wants to terminate the program.
@@ -474,7 +475,7 @@ class Executor
 
   /// Find the next available executable and do the work associated with it.
   /**
-   * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
+   * \param[in] any_exec Structure that can hold any executable type (timer, subscription,
    * service, client).
    * \throws std::runtime_error if there is an issue triggering the guard condition
    */
@@ -484,8 +485,9 @@ class Executor
 
   /// Find the next available executable and do the work associated with it.
   /**
-   * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
+   * \param[in] any_exec Structure that can hold any executable type (timer, subscription,
    * service, client).
+   * \param[in] exception_handler will be called for every exception in the processing threads
    * \throws std::runtime_error if there is an issue triggering the guard condition
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -72,7 +72,7 @@ class MultiThreadedExecutor : public rclcpp::Executor
   /**
    * \sa rclcpp::Executor:spin() for more details
    * \throws std::runtime_error when spin() called while already spinning
-   * @param exception_handler will be called for every exception in the processing threads
+   * \param[in] exception_handler will be called for every exception in the processing threads
    *
    * The exception_handler can be called from multiple threads at the same time.
    * The exception_handler shall rethrow the exception it if wants to terminate the program.

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -69,7 +69,7 @@ class SingleThreadedExecutor : public rclcpp::Executor
   /**
    * \sa rclcpp::SingleThreadedExecutor:spin() for more details
    * \throws std::runtime_error when spin() called while already spinning
-   * @param exception_handler will be called for every exception in the processing threads
+   * \param[in] exception_handler will be called for every exception in the processing threads
    *
    * The exception_handler shall rethrow the exception it if wants to terminate the program.
    */

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -71,7 +71,7 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
   /**
    * \sa rclcpp::SingleThreadedExecutor:spin() for more details
    * \throws std::runtime_error when spin() called while already spinning
-   * @param exception_handler will be called for every exception in the processing threads
+   * \param[in] exception_handler will be called for every exception in the processing threads
    *
    * The exception_handler shall rethrow the exception it if wants to terminate the program.
    */RCLCPP_PUBLIC

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp

@@ -95,7 +95,7 @@ class EventsExecutor : public rclcpp::Executor
   /**
    * \sa rclcpp::Executor:spin() for more details
    * \throws std::runtime_error when spin() called while already spinning
-   * @param exception_handler will be called for every exception in the processing threads
+   * \param exception_handler will be called for every exception in the processing threads
    *
    * The exception_handler can be called from multiple threads at the same time.
    * The exception_handler shall rethrow the exception it if wants to terminate the program.

rclcpp/src/rclcpp/executor.cpp

@@ -396,16 +396,17 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
 }
 
 template<typename Function>
-void execute_guarded(
-  const Function & fun,
+void
+execute_guarded(
+  const Function & function,
   const std::function<void(const std::exception & e)> & exception_handler)
 {
   try {
-    fun();
+    function();
   } catch (const std::exception & e) {
     RCLCPP_ERROR_STREAM(
       rclcpp::get_logger("rclcpp"),
-      "Exception while spinning : " << e.what());
+      "Exception while spinning: " << e.what());
 
     exception_handler(e);
   }
@@ -457,7 +458,6 @@ Executor::execute_any_executable(
   any_exec.callback_group->can_be_taken_from().store(true);
 }
 
-
 template<typename Taker, typename Handler>
 static
 void

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -56,7 +56,6 @@ MultiThreadedExecutor::spin()
 }
 
 void
-
 MultiThreadedExecutor::spin(const std::function<void(const std::exception & e)> & exception_handler)
 {
   if (spinning.exchange(true)) {

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -27,27 +27,12 @@ SingleThreadedExecutor::~SingleThreadedExecutor() {}
 void
 SingleThreadedExecutor::spin()
 {
-  if (spinning.exchange(true)) {
-    throw std::runtime_error("spin() called while already spinning");
-  }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  // Clear any previous result and rebuild the waitset
-  this->wait_result_.reset();
-  this->entities_need_rebuild_ = true;
-
-  while (rclcpp::ok(this->context_) && spinning.load()) {
-    rclcpp::AnyExecutable any_executable;
-    if (get_next_executable(any_executable)) {
-      execute_any_executable(any_executable);
-    }
-  }
+  spin([](const std::exception & e) {throw e;});
 }
 
-
 void
 SingleThreadedExecutor::spin(
-  const std::function<void(const std::exception & e)> & exception_handler)
+  const std::function<void(const std::exception &)> & exception_handler)
 {
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -30,17 +30,7 @@ StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor() {}
 void
 StaticSingleThreadedExecutor::spin()
 {
-  if (spinning.exchange(true)) {
-    throw std::runtime_error("spin() called while already spinning");
-  }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  // This is essentially the contents of the rclcpp::Executor::wait_for_work method,
-  // except we need to keep the wait result to reproduce the StaticSingleThreadedExecutor
-  // behavior.
-  while (rclcpp::ok(this->context_) && spinning.load()) {
-    this->spin_once_impl(std::chrono::nanoseconds(-1));
-  }
+  spin([](const std::exception & e) {throw e;});
 }
 
 

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -72,7 +72,6 @@ void TimersManager::add_timer(rclcpp::TimerBase::SharedPtr timer)
   }
 }
 
-RCLCPP_PUBLIC
 void TimersManager::start(const std::function<void(const std::exception & e)> & exception_handler)
 {
   // Make sure that the thread is not already running