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only set scope exit after it was determined that spinning was changed to true

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This commit is contained in:
William Woodall 2015-11-17 11:32:58 -08:00
parent f1e7ea5ca0
commit 1c9eb0b367
3 changed files with 4 additions and 4 deletions
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4
rclcpp/src/rclcpp/executor.cpp
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@ -110,10 +110,10 @@ Executor::spin_node_some(rclcpp::node::Node::SharedPtr node)
void
Executor::spin_some()
{
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) {
throw std::runtime_error("spin_some() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
AnyExecutable::SharedPtr any_exec;
while ((any_exec = get_next_executable(std::chrono::milliseconds::zero())) && spinning.load()) {
execute_any_executable(any_exec);
@ -123,10 +123,10 @@ Executor::spin_some()
void
Executor::spin_once(std::chrono::nanoseconds timeout)
{
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) {
throw std::runtime_error("spin_once() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
auto any_exec = get_next_executable(timeout);
if (any_exec) {
execute_any_executable(any_exec);

2
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
View file

@ -38,10 +38,10 @@ MultiThreadedExecutor::~MultiThreadedExecutor() {}
void
MultiThreadedExecutor::spin()
{
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) {
throw std::runtime_error("spin() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
std::vector<std::thread> threads;
{
std::lock_guard<std::mutex> wait_lock(wait_mutex_);

2
rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
View file

@ -28,10 +28,10 @@ SingleThreadedExecutor::~SingleThreadedExecutor() {}
void
SingleThreadedExecutor::spin()
{
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) {
throw std::runtime_error("spin_some() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (rclcpp::utilities::ok() && spinning.load()) {
auto any_exec = get_next_executable();
execute_any_executable(any_exec);