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add some TODO's in the code to track known issues

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This commit is contained in:
William Woodall 2014-09-02 14:46:51 -07:00
parent cba6ee2589
commit 35b51c5b61
2 changed files with 7 additions and 3 deletions
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8
rclcpp/include/rclcpp/executor.hpp
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@ -52,7 +52,6 @@ public:
} }
protected: protected:
struct AnyExecutable struct AnyExecutable
{ {
AnyExecutable() : subscription(0), timer(0), callback_group(0), node(0) {} AnyExecutable() : subscription(0), timer(0), callback_group(0), node(0) {}
@ -139,8 +138,9 @@ protected:
/*** Populating class storage from a single node ***/ /*** Populating class storage from a single node ***/
// TODO: pick a better name for this function
void void
populate_subscriber_handles_with_node(rclcpp::node::Node &node) populate_all_handles_with_node(rclcpp::node::Node &node)
{ {
// TODO: reimplement // TODO: reimplement
} }
@ -149,6 +149,7 @@ protected:
/*** Populate class storage from stored weak node pointers and wait. ***/ /*** Populate class storage from stored weak node pointers and wait. ***/
// TODO: pick a better name for this function
void void
populate_all_handles(bool nonblocking) populate_all_handles(bool nonblocking)
{ {
@ -194,6 +195,7 @@ protected:
size_t number_of_subscriptions = subs.size(); size_t number_of_subscriptions = subs.size();
ros_middleware_interface::SubscriberHandles subscriber_handles; ros_middleware_interface::SubscriberHandles subscriber_handles;
subscriber_handles.subscriber_count_ = number_of_subscriptions; subscriber_handles.subscriber_count_ = number_of_subscriptions;
// TODO: Avoid redundant malloc's
subscriber_handles.subscribers_ = static_cast<void **>( subscriber_handles.subscribers_ = static_cast<void **>(
std::malloc(sizeof(void *) * number_of_subscriptions)); std::malloc(sizeof(void *) * number_of_subscriptions));
if (subscriber_handles.subscribers_ == NULL) if (subscriber_handles.subscribers_ == NULL)
@ -215,6 +217,7 @@ protected:
size_t number_of_guard_conds = timers.size() + start_of_timer_guard_conds; size_t number_of_guard_conds = timers.size() + start_of_timer_guard_conds;
ros_middleware_interface::GuardConditionHandles guard_condition_handles; ros_middleware_interface::GuardConditionHandles guard_condition_handles;
guard_condition_handles.guard_condition_count_ = number_of_guard_conds; guard_condition_handles.guard_condition_count_ = number_of_guard_conds;
// TODO: Avoid redundant malloc's
guard_condition_handles.guard_conditions_ = static_cast<void **>( guard_condition_handles.guard_conditions_ = static_cast<void **>(
std::malloc(sizeof(void *) * number_of_guard_conds)); std::malloc(sizeof(void *) * number_of_guard_conds));
if (guard_condition_handles.guard_conditions_ == NULL) if (guard_condition_handles.guard_conditions_ == NULL)
@ -262,6 +265,7 @@ protected:
} }
} }
// Make sure to free memory // Make sure to free memory
// TODO: Remove theses when "Avoid redundant malloc's" todo is addressed
std::free(subscriber_handles.subscribers_); std::free(subscriber_handles.subscribers_);
std::free(guard_condition_handles.guard_conditions_); std::free(guard_condition_handles.guard_conditions_);
} }

2
rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
View file

@ -58,7 +58,7 @@ public:
void spin_node_some(rclcpp::node::Node &node) void spin_node_some(rclcpp::node::Node &node)
{ {
reset_subscriber_handles(); reset_subscriber_handles();
populate_subscriber_handles_with_node(node); populate_all_handles_with_node(node);
// non-blocking = true // non-blocking = true
auto any_exec = get_next_executable(true); auto any_exec = get_next_executable(true);
while (any_exec->subscription) while (any_exec->subscription)