niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Set rmw_wait timeout using ros timers too (#357)

Browse source
This commit is contained in:
Shane Loretz 2018-12-13 15:50:37 -08:00 • committed by GitHub
parent e5df9aa428
commit 3b7c208bba
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

22
rcl/src/rcl/wait.c
View file

@ -506,17 +506,17 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] = rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
rmw_gcs->guard_conditions[gc_idx]; rmw_gcs->guard_conditions[gc_idx];
++(rmw_gcs->guard_condition_count); ++(rmw_gcs->guard_condition_count);
} else { }
// No guard condition, instead use to set the rmw_wait timeout // use timer time to to set the rmw_wait timeout
int64_t timer_timeout = INT64_MAX; // TODO(sloretz) fix spurious wake-ups on ROS_TIME timers with ROS_TIME enabled
rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout); int64_t timer_timeout = INT64_MAX;
if (ret != RCL_RET_OK) { ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
return ret; // The rcl error state should already be set. if (ret != RCL_RET_OK) {
} return ret; // The rcl error state should already be set.
if (timer_timeout < min_timeout) { }
is_timer_timeout = true; if (timer_timeout < min_timeout) {
min_timeout = timer_timeout; is_timer_timeout = true;
} min_timeout = timer_timeout;
} }
} }
} }