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Move clear wait set from after rcl_wait to ahead (#427)

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* Move clear wait set from after rcl_wait to ahead

Current code clear wait set after rcl_wait, it is not respond latency
friendly. In fact, clear wait set operation is not urgent, making sure it is
done before next rcl_wait should be fine.

Signed-off-by: jwang <jing.j.wang@intel.com>

* remove trailing whitespace
This commit is contained in:
jwang11 2018-01-19 10:49:52 +08:00 • committed by William Woodall
parent b81f55e5df
commit e08c80052a
1 changed files with 16 additions and 15 deletions
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31
rclcpp/src/rclcpp/executor.cpp
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@ -376,6 +376,22 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
) )
); );
} }
// clear wait set
if (rcl_wait_set_clear_subscriptions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear subscriptions from wait set");
}
if (rcl_wait_set_clear_services(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear servicess from wait set");
}
if (rcl_wait_set_clear_clients(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear clients from wait set");
}
if (rcl_wait_set_clear_guard_conditions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear guard conditions from wait set");
}
if (rcl_wait_set_clear_timers(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear timers from wait set");
}
if (rcl_wait_set_resize_subscriptions( if (rcl_wait_set_resize_subscriptions(
&wait_set_, memory_strategy_->number_of_ready_subscriptions()) != RCL_RET_OK) &wait_set_, memory_strategy_->number_of_ready_subscriptions()) != RCL_RET_OK)
@ -432,21 +448,6 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
// check the null handles in the wait set and remove them from the handles in memory strategy // check the null handles in the wait set and remove them from the handles in memory strategy
// for callback-based entities // for callback-based entities
memory_strategy_->remove_null_handles(&wait_set_); memory_strategy_->remove_null_handles(&wait_set_);
if (rcl_wait_set_clear_subscriptions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear subscriptions from wait set");
}
if (rcl_wait_set_clear_services(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear servicess from wait set");
}
if (rcl_wait_set_clear_clients(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear clients from wait set");
}
if (rcl_wait_set_clear_guard_conditions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear guard conditions from wait set");
}
if (rcl_wait_set_clear_timers(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear timers from wait set");
}
} }
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::node_interfaces::NodeBaseInterface::SharedPtr