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Rcl consolidate wait set functions #540

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merged 3 commits into from
Aug 27, 2018
Merged

Rcl consolidate wait set functions #540

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02882fc
Use consolidated rcl_wait_set_clear()
sloretz Aug 16, 2018
59fe567
Use consolidated rcl_wait_set_resize()
sloretz Aug 17, 2018
cc85162
0 -> 0u
sloretz Aug 27, 2018
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59 changes: 8 additions & 51 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -410,60 +410,17 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
);
}
// clear wait set
if (rcl_wait_set_clear_subscriptions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear subscriptions from wait set");
}
if (rcl_wait_set_clear_services(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear servicess from wait set");
}
if (rcl_wait_set_clear_clients(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear clients from wait set");
}
if (rcl_wait_set_clear_guard_conditions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear guard conditions from wait set");
}
if (rcl_wait_set_clear_timers(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear timers from wait set");
}

if (rcl_wait_set_resize_subscriptions(
&wait_set_, memory_strategy_->number_of_ready_subscriptions()) != RCL_RET_OK)
{
throw std::runtime_error(
std::string("Couldn't resize the number of subscriptions in wait set : ") +
rcl_get_error_string_safe());
}

if (rcl_wait_set_resize_services(
&wait_set_, memory_strategy_->number_of_ready_services()) != RCL_RET_OK)
{
throw std::runtime_error(
std::string("Couldn't resize the number of services in wait set : ") +
rcl_get_error_string_safe());
if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear wait set");
}

if (rcl_wait_set_resize_clients(
&wait_set_, memory_strategy_->number_of_ready_clients()) != RCL_RET_OK)
{
throw std::runtime_error(
std::string("Couldn't resize the number of clients in wait set : ") +
rcl_get_error_string_safe());
}

if (rcl_wait_set_resize_guard_conditions(
&wait_set_, memory_strategy_->number_of_guard_conditions()) != RCL_RET_OK)
{
rcl_ret_t ret = rcl_wait_set_resize(
&wait_set_, memory_strategy_->number_of_ready_subscriptions(),
memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services());
if (RCL_RET_OK != ret) {
throw std::runtime_error(
std::string("Couldn't resize the number of guard_conditions in wait set : ") +
rcl_get_error_string_safe());
}

if (rcl_wait_set_resize_timers(
&wait_set_, memory_strategy_->number_of_ready_timers()) != RCL_RET_OK)
{
throw std::runtime_error(
std::string("Couldn't resize the number of timers in wait set : ") +
rcl_get_error_string_safe());
std::string("Couldn't resize the wait set : ") + rcl_get_error_string_safe());
}

if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
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6 changes: 3 additions & 3 deletions rclcpp/src/rclcpp/graph_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,13 +131,13 @@ GraphListener::run_loop()

// Resize the wait set if necessary.
if (wait_set_.size_of_guard_conditions < (node_graph_interfaces_.size() + 2)) {
ret = rcl_wait_set_resize_guard_conditions(&wait_set_, node_graph_interfaces_.size() + 2);
ret = rcl_wait_set_resize(&wait_set_, 0u, node_graph_interfaces_.size() + 2, 0u, 0u, 0u);
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Same question regarding the u as is ros2/rcl#285 (comment)

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cc85162. Assuming change is safe and not re-running CI

if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to resize wait set");
}
}
// Clear the wait set's guard conditions.
ret = rcl_wait_set_clear_guard_conditions(&wait_set_);
// Clear the wait set.
ret = rcl_wait_set_clear(&wait_set_);
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to clear wait set");
}
Expand Down