Add support for guard conditions #561
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minggangw
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Feb 14, 2020
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@minggangw Assuming there are no further comments, do you want me to rebase or will you squash the merge instead? |
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@mattrichard it looks good to me and I think we have improved the performance by this PR not only the feature. I'm going to squash them soon, thanks! |
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Implements guard conditions in rclnodejs. In addition, now only entities that are ready to be handled will be executed. This was initially needed since guard conditions should only run when triggered, but was extended to all entities. The approach taken was passing all RclHandles that are ready to be executed back to the main process.
All changes to the .cpp files should be carefully reviewed for quality, thread safety, and alignment with future needs. There's a lot of looping occurring now, but this is not much different than the rclpy implementation.
Fix #315