Decoupled the additional feature from rclcpp to rcpputils, reflecting…

CMakeLists.txt

@@ -32,6 +32,13 @@ add_library(${PROJECT_NAME}
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  target_sources(${PROJECT_NAME} PRIVATE
+    src/thread/detail/posix/thread.cpp
+    src/thread/detail/posix/thread_attribute.cpp
+    src/thread/detail/posix/linux/cpu_set.cpp
+    src/thread/detail/posix/linux/thread.cpp)
+endif()
 if(WIN32)
   target_compile_definitions(${PROJECT_NAME}
     PRIVATE "RCPPUTILS_BUILDING_LIBRARY")
@@ -140,6 +147,9 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_accumulator test/test_accumulator.cpp)
   target_link_libraries(test_accumulator ${PROJECT_NAME})
+
+  ament_add_gtest(test_thread test/test_thread.cpp)
+  target_link_libraries(test_thread ${PROJECT_NAME})
 endif()
 
 ament_package()

include/rcpputils/thread.hpp

@@ -0,0 +1,21 @@
+// Copyright 2023 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCPPUTILS__THREAD_HPP_
+#define RCPPUTILS__THREAD_HPP_
+
+#include "rcpputils/thread/thread.hpp"
+#include "rcpputils/thread/thread_attribute.hpp"
+
+#endif  // RCPPUTILS__THREAD_HPP_

include/rcpputils/thread/detail/posix/cpu_set.hpp

@@ -0,0 +1,22 @@
+// Copyright 2023 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCPPUTILS__THREAD__DETAIL__POSIX__CPU_SET_HPP_
+#define RCPPUTILS__THREAD__DETAIL__POSIX__CPU_SET_HPP_
+
+#if __linux__
+#include "rcpputils/thread/detail/posix/linux/cpu_set.hpp"
+#endif
+
+#endif  // RCPPUTILS__THREAD__DETAIL__POSIX__CPU_SET_HPP_

include/rcpputils/thread/detail/posix/linux/cpu_set.hpp

@@ -0,0 +1,81 @@
+// Copyright 2023 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCPPUTILS__THREAD__DETAIL__POSIX__LINUX__CPU_SET_HPP_
+#define RCPPUTILS__THREAD__DETAIL__POSIX__LINUX__CPU_SET_HPP_
+
+#include <pthread.h>
+#include <memory>
+#include <utility>
+
+#include "rcutils/thread_attr.h"
+#include "rcpputils/thread/detail/posix/utilities.hpp"
+
+#include "rcpputils/visibility_control.hpp"
+
+namespace rcpputils
+{
+
+namespace thread
+{
+namespace detail
+{
+
+struct CpuSetDeleter
+{
+  void operator()(cpu_set_t * p) const;
+};
+using UniqueNativeCpuSet = std::unique_ptr<cpu_set_t, CpuSetDeleter>;
+
+}  // namespace detail
+}  // namespace thread
+
+struct CpuSet
+{
+  using NativeCpuSetType = cpu_set_t *;
+
+  CpuSet() = default;
+  explicit CpuSet(rcutils_thread_core_affinity_t const & affinity);
+  CpuSet(const CpuSet & other);
+  CpuSet(CpuSet && other);
+
+  CpuSet & operator=(const CpuSet & other);
+  CpuSet & operator=(CpuSet && other);
+  void swap(CpuSet & other);
+  void set(std::size_t cpu);
+  void unset(std::size_t cpu);
+  void clear();
+  bool is_set(std::size_t cpu) const;
+  std::size_t count() const;
+
+  void set_rcutils_thread_core_affinity(rcutils_thread_core_affinity_t const & affinity);
+
+  static std::size_t num_processors();
+  CpuSet::NativeCpuSetType native_cpu_set() const;
+
+private:
+  void init_cpu_set();
+  void valid_cpu(std::size_t cpu) const;
+  static std::size_t alloc_size();
+  thread::detail::UniqueNativeCpuSet cpu_set_;
+};
+
+inline void swap(CpuSet & a, CpuSet & b)
+{
+  a.swap(b);
+}
+
+}  // namespace rcpputils
+
+#endif  // RCPPUTILS__THREAD__DETAIL__POSIX__LINUX__CPU_SET_HPP_

include/rcpputils/thread/detail/posix/sched_options.hpp

@@ -0,0 +1,50 @@
+// Copyright 2024 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_OPTIONS_HPP_
+#define RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_OPTIONS_HPP_
+
+#include <optional>
+#include <utility>
+
+#include "rcpputils/thread/detail/posix/cpu_set.hpp"
+#include "rcpputils/thread/detail/posix/sched_policy.hpp"
+#include "rcpputils/visibility_control.hpp"
+
+namespace rcpputils
+{
+
+struct SchedOptions
+{
+  void swap(SchedOptions & other)
+  {
+    using std::swap;
+    swap(policy, other.policy);
+    swap(priority, other.priority);
+    swap(core_affinity, other.core_affinity);
+  }
+
+  std::optional<int> priority;
+  std::optional<SchedPolicy> policy;
+  std::optional<CpuSet> core_affinity;
+};
+
+inline void swap(SchedOptions & a, SchedOptions & b)
+{
+  a.swap(b);
+}
+
+}  // namespace rcpputils
+
+#endif  // RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_OPTIONS_HPP_

include/rcpputils/thread/detail/posix/sched_policy.hpp

@@ -0,0 +1,69 @@
+// Copyright 2024 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_POLICY_HPP_
+#define RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_POLICY_HPP_
+
+#include <sched.h>
+
+#include "rcutils/thread_attr.h"
+
+#include "rcpputils/visibility_control.hpp"
+
+namespace rcpputils
+{
+
+namespace thread
+{
+namespace detail
+{
+
+constexpr unsigned int sched_policy_explicit_bit = 0x8000'0000;
+
+}  // namespace detail
+}  // namespace thread
+
+enum struct SchedPolicy : unsigned int
+{
+  inherit,
+  other = thread::detail::sched_policy_explicit_bit | SCHED_OTHER,
+#ifdef SCHED_FIFO
+  fifo = thread::detail::sched_policy_explicit_bit | SCHED_FIFO,
+#endif
+#ifdef SCHED_RR
+  rr = thread::detail::sched_policy_explicit_bit | SCHED_RR,
+#endif
+#ifdef SCHED_IDLE
+  idle = thread::detail::sched_policy_explicit_bit | SCHED_IDLE,
+#endif
+#ifdef SCHED_BATCH
+  batch = thread::detail::sched_policy_explicit_bit | SCHED_BATCH,
+#endif
+#ifdef SCHED_SPORADIC
+  sporadic = thread::detail::sched_policy_explicit_bit | SCHED_SPORADIC,
+#endif
+// #if __linux__
+// linux deadline scheduler requires more parameter, not supported now
+// #ifdef SCHED_DEADLINE
+//   deadline = SCHED_DEADLINE,
+// #endif
+// #endif
+};
+
+SchedPolicy from_rcutils_thread_scheduling_policy(
+  rcutils_thread_scheduling_policy_t rcutils_sched_policy);
+
+}  // namespace rcpputils
+
+#endif  // RCPPUTILS__THREAD__DETAIL__POSIX__SCHED_POLICY_HPP_