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Fix return of rmw_wait

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Misuse of std::vector resize as if it would leave any reserved entries
unchanged caused a misinterpretation of entries whenever the number of
triggering entities was larger than the number of triggering entities in
the preceding call to rmw_wait: these would all be mapped to the first
entity in the set.

If the waitset is reused from call to call and spurious events are
handled gracefully, this is recoverable; otherwise, no such luck.

Moreover, not accounting for a sentinel entry added to the list of
triggered entities means it would never return RMW_RET_TIMEOUT.

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-06-20 13:39:48 +02:00 • committed by eboasson
parent eb4aec84ca
commit 870854b7ba
1 changed files with 2 additions and 2 deletions
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4
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1264,7 +1264,7 @@ extern "C" rmw_ret_t rmw_wait (rmw_subscriptions_t *subs, rmw_guard_conditions_t
ATTACH (CddsService, srvs, service, service.sub->rdcondh); ATTACH (CddsService, srvs, service, service.sub->rdcondh);
ATTACH (CddsClient, cls, client, client.sub->rdcondh); ATTACH (CddsClient, cls, client, client.sub->rdcondh);
#undef ATTACH #undef ATTACH
ws->trigs.reserve (nelems + 1); ws->trigs.resize (nelems + 1);
} }
const dds_duration_t timeout = const dds_duration_t timeout =
@ -1305,7 +1305,7 @@ extern "C" rmw_ret_t rmw_wait (rmw_subscriptions_t *subs, rmw_guard_conditions_t
ws->inuse = false; ws->inuse = false;
} }
return (ws->trigs.size () == 0) ? RMW_RET_TIMEOUT : RMW_RET_OK; return (ws->trigs.size () == 1) ? RMW_RET_TIMEOUT : RMW_RET_OK;
} }
///////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////