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

Fix hang with timers in MultiThreadedExecutor (#835) (#836)

Browse source 
Signed-off-by: Todd Malsbary <todd.malsbary@intel.com>
This commit is contained in:
Todd Malsbary 2019-08-30 10:38:51 -07:00 • committed by ivanpauno
parent d5301c1c7c
commit f153cf7173
1 changed files with 5 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
View file

@ -86,6 +86,11 @@ MultiThreadedExecutor::run(size_t)
if (any_exec.timer) {
// Guard against multiple threads getting the same timer.
if (scheduled_timers_.count(any_exec.timer) != 0) {
// Make sure that any_exec's callback group is reset before
// the lock is released.
if (any_exec.callback_group) {
any_exec.callback_group->can_be_taken_from().store(true);
}
continue;
}
scheduled_timers_.insert(any_exec.timer);