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Merge pull request #186 from ros2/remove_sleep

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remove excess sleep
This commit is contained in:
gerkey 2015-12-18 09:13:02 -08:00
commit 496c3e1798
2 changed files with 1 additions and 4 deletions
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1
rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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@ -61,7 +61,6 @@ private:
std::mutex wait_mutex_; std::mutex wait_mutex_;
size_t number_of_threads_; size_t number_of_threads_;
std::unordered_map<std::thread::id, size_t> thread_number_by_thread_id_;
}; };
} // namespace multi_threaded_executor } // namespace multi_threaded_executor

4
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
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@ -46,7 +46,6 @@ MultiThreadedExecutor::spin()
{ {
std::lock_guard<std::mutex> wait_lock(wait_mutex_); std::lock_guard<std::mutex> wait_lock(wait_mutex_);
for (; thread_id < number_of_threads_ - 1; ++thread_id) { for (; thread_id < number_of_threads_ - 1; ++thread_id) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id); auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id);
threads.emplace_back(func); threads.emplace_back(func);
} }
@ -65,9 +64,8 @@ MultiThreadedExecutor::get_number_of_threads()
} }
void void
MultiThreadedExecutor::run(size_t this_thread_number) MultiThreadedExecutor::run(size_t)
{ {
thread_number_by_thread_id_[std::this_thread::get_id()] = this_thread_number;
while (rclcpp::utilities::ok() && spinning.load()) { while (rclcpp::utilities::ok() && spinning.load()) {
executor::AnyExecutable::SharedPtr any_exec; executor::AnyExecutable::SharedPtr any_exec;
{ {