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Micro-optimizations in rcl #965

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merged 3 commits into from
Mar 11, 2022
Merged

Micro-optimizations in rcl #965

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f8cd42a
Only check wait_set->impl for NULL pointer.
clalancette Mar 9, 2022
bba931f
Refactor the debug messages in rcl_wait().
clalancette Mar 9, 2022
953de44
Remove some debug statements from rcl_wait.
clalancette Mar 9, 2022
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19 changes: 1 addition & 18 deletions rcl/src/rcl/wait.c
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Original file line number Diff line number Diff line change
Expand Up @@ -217,7 +217,7 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al

#define SET_ADD(Type) \
RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_INVALID_ARGUMENT); \
if (!rcl_wait_set_is_valid(wait_set)) { \
if (!wait_set->impl) { \
RCL_SET_ERROR_MSG("wait set is invalid"); \
return RCL_RET_WAIT_SET_INVALID; \
} \
Expand Down Expand Up @@ -595,15 +595,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
temporary_timeout_storage.nsec = min_timeout % 1000000000;
timeout_argument = &temporary_timeout_storage;
}
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
!timeout_argument, ROS_PACKAGE_NAME, "Waiting without timeout");
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
timeout_argument, ROS_PACKAGE_NAME,
"Waiting with timeout: %" PRIu64 "s + %" PRIu64 "ns",
temporary_timeout_storage.sec, temporary_timeout_storage.nsec);
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Timeout calculated based on next scheduled timer: %s",
is_timer_timeout ? "true" : "false");

// Wait.
rmw_ret_t ret = rmw_wait(
Expand All @@ -630,7 +621,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set.
}
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Timer in wait set is ready");
if (!is_ready) {
wait_set->timers[i] = NULL;
}
Expand All @@ -643,41 +633,34 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
// Set corresponding rcl subscription handles NULL.
for (i = 0; i < wait_set->size_of_subscriptions; ++i) {
bool is_ready = wait_set->impl->rmw_subscriptions.subscribers[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
is_ready, ROS_PACKAGE_NAME, "Subscription in wait set is ready");
if (!is_ready) {
wait_set->subscriptions[i] = NULL;
}
}
// Set corresponding rcl guard_condition handles NULL.
for (i = 0; i < wait_set->size_of_guard_conditions; ++i) {
bool is_ready = wait_set->impl->rmw_guard_conditions.guard_conditions[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
is_ready, ROS_PACKAGE_NAME, "Guard condition in wait set is ready");
if (!is_ready) {
wait_set->guard_conditions[i] = NULL;
}
}
// Set corresponding rcl client handles NULL.
for (i = 0; i < wait_set->size_of_clients; ++i) {
bool is_ready = wait_set->impl->rmw_clients.clients[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Client in wait set is ready");
if (!is_ready) {
wait_set->clients[i] = NULL;
}
}
// Set corresponding rcl service handles NULL.
for (i = 0; i < wait_set->size_of_services; ++i) {
bool is_ready = wait_set->impl->rmw_services.services[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Service in wait set is ready");
if (!is_ready) {
wait_set->services[i] = NULL;
}
}
// Set corresponding rcl event handles NULL.
for (i = 0; i < wait_set->size_of_events; ++i) {
bool is_ready = wait_set->impl->rmw_events.events[i] != NULL;
RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Event in wait set is ready");
if (!is_ready) {
wait_set->events[i] = NULL;
}
Expand Down