From 2b342357d9b0d69b2bc00a40780ca7c8d8ee8198 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Mon, 16 Nov 2015 17:13:46 -0800
Subject: [PATCH] use scope exit to ensure spinning is reset

---
 rclcpp/src/rclcpp/executor.cpp                           | 4 ++++
 rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp  | 3 +++
 rclcpp/src/rclcpp/executors/single_threaded_executor.cpp | 3 +++
 3 files changed, 10 insertions(+)

diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index b4f3793..48ac9c9 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -16,6 +16,8 @@
 
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
+#include "./scope_exit.hpp"
+
 using rclcpp::executor::AnyExecutable;
 using rclcpp::executor::Executor;
 
@@ -108,6 +110,7 @@ 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");
   }
@@ -121,6 +124,7 @@ 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");
   }
diff --git a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
index c59987c..e62dbcc 100644
--- a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
+++ b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
@@ -20,6 +20,8 @@
 
 #include "rclcpp/utilities.hpp"
 
+#include "../scope_exit.hpp"
+
 using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms)
@@ -36,6 +38,7 @@ 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");
   }
diff --git a/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
index 962221b..00ce809 100644
--- a/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
+++ b/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
@@ -14,6 +14,8 @@
 
 #include <rclcpp/executors/single_threaded_executor.hpp>
 
+#include "../scope_exit.hpp"
+
 using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
 
 SingleThreadedExecutor::SingleThreadedExecutor(
@@ -26,6 +28,7 @@ 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");
   }