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Canceled timers (#95)

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* don't wake up on canceled timers

* test wait with canceled timers
This commit is contained in:
Mikael Arguedas 2016-12-11 14:31:19 -08:00 • committed by GitHub
parent 6bc013dd28
commit 3658932230
2 changed files with 51 additions and 1 deletions
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11
rcl/src/rcl/wait.c
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@ -534,8 +534,17 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
if (!wait_set->timers[i]) { if (!wait_set->timers[i]) {
continue; // Skip NULL timers. continue; // Skip NULL timers.
} }
bool is_canceled = false;
rcl_ret_t ret = rcl_timer_is_canceled(wait_set->timers[i], &is_canceled);
if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set.
}
if (is_canceled) {
continue; // Skip canceled timers.
}
int64_t timer_timeout = INT64_MAX; int64_t timer_timeout = INT64_MAX;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout); ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set. return ret; // The rcl error state should already be set.
} }

41
rcl/test/rcl/test_wait.cpp
View file

@ -141,6 +141,47 @@ TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
EXPECT_LE(diff, TOLERANCE); EXPECT_LE(diff, TOLERANCE);
} }
// Check that a canceled timer doesn't wake up rcl_wait
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// Add a dummy guard condition to avoid an error
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(&guard_cond, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_timer_t canceled_timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(&canceled_timer, RCL_MS_TO_NS(1), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_cancel(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &canceled_timer]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_timer_fini(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
int64_t timeout = RCL_MS_TO_NS(10);
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
ret = rcl_wait(&wait_set, timeout);
std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
// We expect a timeout here (timer value reached)
ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string_safe();
// Check time
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, RCL_MS_TO_NS(10) + TOLERANCE);
}
// Test rcl_wait_set_t with excess capacity works. // Test rcl_wait_set_t with excess capacity works.
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) { TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();