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Fix spin_until_future_complete: check spinning value #1023

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merged 5 commits into from
Jun 11, 2020
+22 −6
Merged

Fix spin_until_future_complete: check spinning value #1023

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04edcd6
Fix spin_until_future_complete: Couldn't terminate while loop althoug…
DongheeYe Mar 11, 2020
3b807c4
Apply comment: fix error message
DongheeYe Mar 23, 2020
79e36fd
Apply comment: add spin_once_impl private method
DongheeYe Mar 23, 2020
b275cdc
Fix uncrustify build error
DongheeYe Mar 25, 2020
546751b
Add RCLCPP_PUBLIC for window ci test
DongheeYe Mar 25, 2020
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14 changes: 12 additions & 2 deletions rclcpp/include/rclcpp/executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/scope_exit.hpp"

namespace rclcpp
{
Expand Down Expand Up @@ -212,9 +213,14 @@ 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) {
Expand Down Expand Up @@ -336,6 +342,10 @@ class Executor

RCLCPP_DISABLE_COPY(Executor)

RCLCPP_PUBLIC
void
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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_;
};
Expand Down
14 changes: 10 additions & 4 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down