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

fix executor spin_once and spin_some

Browse source
This commit is contained in:
Dirk Thomas 2015-07-16 22:28:40 -07:00
parent bdafa54d8b
commit 60cb347807
1 changed files with 19 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

34
rclcpp/include/rclcpp/executor.hpp
View file

@ -60,7 +60,7 @@ public:
virtual void spin() = 0;
virtual void
add_node(rclcpp::node::Node::SharedPtr & node_ptr)
add_node(rclcpp::node::Node::SharedPtr & node_ptr, bool notify=true)
{
// Check to ensure node not already added
for (auto & weak_node : weak_nodes_) {
@ -71,15 +71,17 @@ public:
}
}
weak_nodes_.push_back(node_ptr);
// Interrupt waiting to handle new node
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
if (notify) {
// Interrupt waiting to handle new node
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
}
}
virtual void
remove_node(rclcpp::node::Node::SharedPtr & node_ptr)
remove_node(rclcpp::node::Node::SharedPtr & node_ptr, bool notify=true)
{
bool node_removed = false;
weak_nodes_.erase(
@ -91,34 +93,36 @@ public:
node_removed |= matched;
return matched;
}));
// If the node was matched and removed, interrupt waiting
if (node_removed) {
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
if (notify) {
// If the node was matched and removed, interrupt waiting
if (node_removed) {
rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
if (status != RMW_RET_OK) {
throw std::runtime_error(rmw_get_error_string_safe());
}
}
}
}
void spin_node_once(rclcpp::node::Node::SharedPtr & node, bool nonblocking = false)
{
this->add_node(node);
this->add_node(node, false);
// non-blocking = true
auto any_exec = get_next_executable(nonblocking);
if (any_exec) {
execute_any_executable(any_exec);
}
this->remove_node(node);
this->remove_node(node, false);
}
void spin_node_some(rclcpp::node::Node::SharedPtr & node)
{
this->add_node(node);
this->add_node(node, false);
// non-blocking = true
while (AnyExecutable::SharedPtr any_exec = get_next_executable(true)) {
execute_any_executable(any_exec);
}
this->remove_node(node);
this->remove_node(node, false);
}
// Support dynamic switching of memory strategy