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Simplify implementation of CallbackQueue::callOne() #1

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Simplify implementation of CallbackQueue::callOne() #1

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3a98900
roscpp: simplify implementation of CallbackQueue::callOne()
meyerj Jun 18, 2019
7b69f44
roscpp: return TryAgain from CallbackQueue::callOne(timeout) immediat…
meyerj Jul 31, 2020
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70 changes: 32 additions & 38 deletions clients/roscpp/src/libros/callback_queue.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,13 +228,39 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
return Disabled;
}

ros::SteadyTime start_time(ros::SteadyTime::now());
boost::chrono::steady_clock::time_point wait_until =
boost::chrono::steady_clock::now() + boost::chrono::nanoseconds(timeout.toNSec());
while (!cb_info.callback) {
D_CallbackInfo::iterator it = callbacks_.begin();
for (; it != callbacks_.end();)
{
CallbackInfo& info = *it;

if (callbacks_.empty())
{
if (info.marked_for_removal)
{
it = callbacks_.erase(it);
continue;
}

if (info.callback->ready())
{
cb_info = info;
it = callbacks_.erase(it);
break;
}

++it;
}

// Found a ready callback?
if (cb_info.callback) {
break;
}

boost::cv_status wait_status = boost::cv_status::timeout;
if (!timeout.isZero())
{
condition_.wait_for(lock, boost::chrono::nanoseconds(timeout.toNSec()));
wait_status = condition_.wait_until(lock, wait_until);
}

if (callbacks_.empty())
Expand All @@ -246,43 +272,11 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
{
return Disabled;
}
}

D_CallbackInfo::iterator it = callbacks_.begin();
for (; it != callbacks_.end();)
{
CallbackInfo& info = *it;

if (info.marked_for_removal)
{
it = callbacks_.erase(it);
continue;
}

if (info.callback->ready())
if (wait_status == boost::cv_status::timeout)
{
cb_info = info;
it = callbacks_.erase(it);
break;
return TryAgain;
}

++it;
}

if (!cb_info.callback)
{
// do not spend more than `timeout` seconds in the callback; we already waited for some time when waiting for
// nonempty queue
ros::SteadyTime now(ros::SteadyTime::now());
ros::WallDuration time_spent = now - start_time;
ros::WallDuration time_to_wait = timeout - time_spent;

if (time_to_wait.toNSec() > 0)
{
condition_.wait_for(lock, boost::chrono::nanoseconds(time_to_wait.toNSec()));
}

return TryAgain;
}

++calling_;
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