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Trigger guard condition when timer is reset #589

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merged 5 commits into from
Mar 13, 2020
Merged

Trigger guard condition when timer is reset #589

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3b64150
Fix malfunction when reset canceled timer
DongheeYe Mar 9, 2020
36d9c06
Apply comment : remove notify guard condition and always add current …
DongheeYe Mar 10, 2020
17d1cec
Apply comment: Always trigger gc when timer reset
DongheeYe Mar 10, 2020
e725ff6
Apply comment: change comment of guard condition
DongheeYe Mar 11, 2020
a78d199
Fix test error: uncrustify
DongheeYe Mar 13, 2020
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19 changes: 13 additions & 6 deletions rcl/src/rcl/timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ typedef struct rcl_timer_impl_t
rcl_clock_t * clock;
// The associated context.
rcl_context_t * context;
// A guard condition used to wake a wait set if using ROSTime, else zero initialized.
// A guard condition used to wake a wait set
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rcl_guard_condition_t guard_condition;
// The user supplied callback.
atomic_uintptr_t callback;
Expand Down Expand Up @@ -153,12 +153,12 @@ rcl_timer_init(
impl.clock = clock;
impl.context = context;
impl.guard_condition = rcl_get_zero_initialized_guard_condition();
rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
rcl_ret_t ret = rcl_guard_condition_init(&(impl.guard_condition), context, options);
if (RCL_RET_OK != ret) {
return ret;
}
if (RCL_ROS_TIME == impl.clock->type) {
rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
rcl_ret_t ret = rcl_guard_condition_init(&(impl.guard_condition), context, options);
if (RCL_RET_OK != ret) {
return ret;
}
rcl_jump_threshold_t threshold;
threshold.on_clock_change = true;
threshold.min_forward.nanoseconds = 1;
Expand Down Expand Up @@ -402,7 +402,14 @@ rcl_timer_reset(rcl_timer_t * timer)
}
int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
rcutils_atomic_store(&timer->impl->next_call_time, now + period);
bool is_canceled;
is_canceled = rcutils_atomic_load_bool(&timer->impl->canceled);
rcutils_atomic_store(&timer->impl->canceled, false);
if (is_canceled) {
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rcl_ret_t ret = rcl_trigger_guard_condition(&timer->impl->guard_condition);
if (ret != RCL_RET_OK)
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to trigger timer guard condition");
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset");
return RCL_RET_OK;
}
Expand Down
16 changes: 8 additions & 8 deletions rcl/src/rcl/wait.c
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Expand Up @@ -547,6 +547,14 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
if (!wait_set->timers[i]) {
continue; // Skip NULL timers.
}
rmw_guard_conditions_t * rmw_gcs = &(wait_set->impl->rmw_guard_conditions);
size_t gc_idx = wait_set->size_of_guard_conditions + i;
if (NULL != rmw_gcs->guard_conditions[gc_idx]) {
// This timer has a guard condition, so move it to make a legal wait set.
rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
rmw_gcs->guard_conditions[gc_idx];
++(rmw_gcs->guard_condition_count);
}
bool is_canceled = false;
rcl_ret_t ret = rcl_timer_is_canceled(wait_set->timers[i], &is_canceled);
if (ret != RCL_RET_OK) {
Expand All @@ -556,14 +564,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
wait_set->timers[i] = NULL;
continue;
}
rmw_guard_conditions_t * rmw_gcs = &(wait_set->impl->rmw_guard_conditions);
size_t gc_idx = wait_set->size_of_guard_conditions + i;
if (NULL != rmw_gcs->guard_conditions[gc_idx]) {
// This timer has a guard condition, so move it to make a legal wait set.
rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
rmw_gcs->guard_conditions[gc_idx];
++(rmw_gcs->guard_condition_count);
}
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// 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;
Expand Down