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use scope exit to ensure spinning is reset

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This commit is contained in:
William Woodall 2015-11-16 17:13:46 -08:00
parent 9dce2808ea
commit 2b342357d9
3 changed files with 10 additions and 0 deletions
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4
rclcpp/src/rclcpp/executor.cpp
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@ -16,6 +16,8 @@
#include "rcl_interfaces/msg/intra_process_message.hpp" #include "rcl_interfaces/msg/intra_process_message.hpp"
#include "./scope_exit.hpp"
using rclcpp::executor::AnyExecutable; using rclcpp::executor::AnyExecutable;
using rclcpp::executor::Executor; using rclcpp::executor::Executor;
@ -108,6 +110,7 @@ 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");
} }
@ -121,6 +124,7 @@ 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");
} }

3
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
View file

@ -20,6 +20,8 @@
#include "rclcpp/utilities.hpp" #include "rclcpp/utilities.hpp"
#include "../scope_exit.hpp"
using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor; using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
MultiThreadedExecutor::MultiThreadedExecutor(rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms) MultiThreadedExecutor::MultiThreadedExecutor(rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms)
@ -36,6 +38,7 @@ 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");
} }

3
rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
View file

@ -14,6 +14,8 @@
#include <rclcpp/executors/single_threaded_executor.hpp> #include <rclcpp/executors/single_threaded_executor.hpp>
#include "../scope_exit.hpp"
using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor; using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
SingleThreadedExecutor::SingleThreadedExecutor( SingleThreadedExecutor::SingleThreadedExecutor(
@ -26,6 +28,7 @@ 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");
} }