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Set rmw_wait timeout using ros timers too #357

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Dec 13, 2018
Merged

Set rmw_wait timeout using ros timers too #357

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22 changes: 11 additions & 11 deletions rcl/src/rcl/wait.c
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Original file line number Diff line number Diff line change
Expand Up @@ -506,17 +506,17 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
rmw_gcs->guard_conditions[gc_idx];
++(rmw_gcs->guard_condition_count);
} else {
// No guard condition, instead use to set the rmw_wait timeout
int64_t timer_timeout = INT64_MAX;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set.
}
if (timer_timeout < min_timeout) {
is_timer_timeout = true;
min_timeout = timer_timeout;
}
}
// use timer time to to set the rmw_wait timeout
// TODO(sloretz) fix spurious wake-ups on ROS_TIME timers with ROS_TIME enabled
int64_t timer_timeout = INT64_MAX;
ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set.
}
if (timer_timeout < min_timeout) {
is_timer_timeout = true;
min_timeout = timer_timeout;
}
}
}
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