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[eloquent] Backports #1023 #1167 #1170

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merged 2 commits into from
Jun 23, 2020
Merged

[eloquent] Backports #1023 #1167 #1170

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f97568b
Fix spin_until_future_complete: check spinning value (#1023)
DongheeYe Jun 11, 2020
aeaf1ac
Check if context is valid when looping in spin_some (#1167)
ivanpauno Jun 11, 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 @@ -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
{
Expand Down Expand Up @@ -244,9 +245,14 @@ 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 @@ -360,6 +366,10 @@ 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_;
};
Expand Down
16 changes: 11 additions & 5 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
throw std::runtime_error("spin_some() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (spinning.load() && max_duration_not_elapsed()) {
while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
AnyExecutable any_exec;
if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
execute_any_executable(any_exec);
Expand All @@ -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