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Fix spin_until_future_complete: check spinning value (#1023)

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Signed-off-by: Donghee Ye <donghee.ye@samsung.com>

Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This commit is contained in:
DongheeYe 2020-06-12 02:25:02 +09:00 • committed by Ivan Santiago Paunovic
parent 77564eb2ff
commit 70e1830ecd
2 changed files with 23 additions and 6 deletions
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15
rclcpp/include/rclcpp/executor.hpp
View file

@ -37,6 +37,7 @@
#include "rclcpp/node_interfaces/node_base_interface.hpp" #include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/utilities.hpp" #include "rclcpp/utilities.hpp"
#include "rclcpp/visibility_control.hpp" #include "rclcpp/visibility_control.hpp"
#include "rclcpp/scope_exit.hpp"
namespace rclcpp namespace rclcpp
{ {
@ -212,9 +213,14 @@ public:
} }
std::chrono::nanoseconds timeout_left = timeout_ns; std::chrono::nanoseconds timeout_left = timeout_ns;
while (rclcpp::ok(this->context_)) { if (spinning.exchange(true)) {
throw std::runtime_error("spin_until_future_complete() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (rclcpp::ok(this->context_) && spinning.load()) {
// Do one item of work. // Do one item of work.
spin_once(timeout_left); spin_once_impl(timeout_left);
// Check if the future is set, return SUCCESS if it is. // Check if the future is set, return SUCCESS if it is.
status = future.wait_for(std::chrono::seconds(0)); status = future.wait_for(std::chrono::seconds(0));
if (status == std::future_status::ready) { if (status == std::future_status::ready) {
@ -338,6 +344,11 @@ protected:
std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_; std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
std::list<const rcl_guard_condition_t *> guard_conditions_; std::list<const rcl_guard_condition_t *> guard_conditions_;
private:
RCLCPP_PUBLIC
void
spin_once_impl(std::chrono::nanoseconds timeout);
}; };
namespace executor namespace executor

14
rclcpp/src/rclcpp/executor.cpp
View file

@ -244,6 +244,15 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
} }
} }
void
Executor::spin_once_impl(std::chrono::nanoseconds timeout)
{
AnyExecutable any_exec;
if (get_next_executable(any_exec, timeout)) {
execute_any_executable(any_exec);
}
}
void void
Executor::spin_once(std::chrono::nanoseconds timeout) Executor::spin_once(std::chrono::nanoseconds timeout)
{ {
@ -251,10 +260,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
throw std::runtime_error("spin_once() called while already spinning"); throw std::runtime_error("spin_once() called while already spinning");
} }
RCLCPP_SCOPE_EXIT(this->spinning.store(false); ); RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
AnyExecutable any_exec; spin_once_impl(timeout);
if (get_next_executable(any_exec, timeout)) {
execute_any_executable(any_exec);
}
} }
void void