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Lifecycle improvements#47

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Commits on Aug 16, 2023

• add executor interface

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• refactor Node and create Context

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• improve description of IExtendedDisposable.IsDisposed

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• refactor Publisher

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• add IWaitable

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• refactor Subscription

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• refactor Service

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• fix missing includes in rcl_native_interface.c

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• rename MappingValueView -> MappedValueDictionary

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• add LockedDictionary

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• fix service default qos

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• refactor Client

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• add debug assertions

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• add calls to GC.KeepAlive(this)

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• add internal Removal methods to Node

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• refactor IExecutor interface

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• update tests and fix C interop

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• update CMakeLists.txt

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• add IWaitable.Handle

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• refactor WaitSet

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• add GuardCondition

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• add ManualExecutor

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• doc and tests updates for guard condition behavior

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• remove redundant IsDisposed checks

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• improve Context documentation on thread safety

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• schedule rescan when rescanning fails

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• improve Publisher documentation

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• improve Subscription documentation

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• improve Service documentation

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• improve Client documentation

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• improve Node documentation

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• remove IWaitable.TryProcessAsync

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• add tests for node scheduling rescans

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• make Node.Executor thread safe

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• improve documentation of ManualExecutor

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• update examples

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• simplify WaitSet

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• add ManualExecutor.SpinWhile

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• fix IClient summary mentioning subscriptions

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• add copyright notices to new files

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• update copyright year of modified files

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• update copyright notice for significantly changed files

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• dispose guard conditions after invoking IContext.OnShutdown

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• dispose wait set after invoking IContext.OnShutdown

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• Add executor spinning in the background

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Commits on Sep 1, 2023

• fix thread starvation in ManualExecutor.*Wait

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