Fix spin_until_future_complete: check spinning value (#1023)

Signed-off-by: Donghee Ye <donghee.ye@samsung.com> Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Jun 22, 2020 · 0fd528f · 0fd528f
1 parent d5040ae
commit 0fd528f
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Showing 2 changed files with 22 additions and 6 deletions.
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -35,6 +35,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -243,9 +244,14 @@ class Executor
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -368,6 +374,10 @@ class Executor
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };

diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
@@ -244,17 +244,23 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void