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

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

4
rclcpp/src/rclcpp/executor.cpp
View file

@ -110,10 +110,10 @@ Executor::spin_node_some(rclcpp::node::Node::SharedPtr node)
void void
Executor::spin_some() Executor::spin_some()
{ {
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) { if (spinning.exchange(true)) {
throw std::runtime_error("spin_some() called while already spinning"); throw std::runtime_error("spin_some() called while already spinning");
} }
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
AnyExecutable::SharedPtr any_exec; AnyExecutable::SharedPtr any_exec;
while ((any_exec = get_next_executable(std::chrono::milliseconds::zero())) && spinning.load()) { while ((any_exec = get_next_executable(std::chrono::milliseconds::zero())) && spinning.load()) {
execute_any_executable(any_exec); execute_any_executable(any_exec);
@ -123,10 +123,10 @@ Executor::spin_some()
void void
Executor::spin_once(std::chrono::nanoseconds timeout) Executor::spin_once(std::chrono::nanoseconds timeout)
{ {
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) { if (spinning.exchange(true)) {
throw std::runtime_error("spin_once() called while already spinning"); throw std::runtime_error("spin_once() called while already spinning");
} }
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
auto any_exec = get_next_executable(timeout); auto any_exec = get_next_executable(timeout);
if (any_exec) { if (any_exec) {
execute_any_executable(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 void
MultiThreadedExecutor::spin() MultiThreadedExecutor::spin()
{ {
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) { if (spinning.exchange(true)) {
throw std::runtime_error("spin() called while already spinning"); throw std::runtime_error("spin() called while already spinning");
} }
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
std::vector<std::thread> threads; std::vector<std::thread> threads;
{ {
std::lock_guard<std::mutex> wait_lock(wait_mutex_); 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 void
SingleThreadedExecutor::spin() SingleThreadedExecutor::spin()
{ {
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
if (spinning.exchange(true)) { if (spinning.exchange(true)) {
throw std::runtime_error("spin_some() called while already spinning"); throw std::runtime_error("spin_some() called while already spinning");
} }
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (rclcpp::utilities::ok() && spinning.load()) { while (rclcpp::utilities::ok() && spinning.load()) {
auto any_exec = get_next_executable(); auto any_exec = get_next_executable();
execute_any_executable(any_exec); execute_any_executable(any_exec);