Fixed Issue ros/roslisp#12 #16
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added 8 commits
May 22, 2014 16:34
This reverts commit 0a12dce.
…p after start-ros-node
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@moesenle Could you make a quick code review? I will do some further testing, today. |
| (dbind (protocol address port) | ||
| ;; Check if it's our publisher if that's the case don't request the topic | ||
| ;; using a ros-rpc-call since it would deadlock and time out | ||
| (if (equal uri *xml-rpc-caller-api*) |
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Just a minor comment on Lisp style: I would only use IF if there is just one small expression in the if and else block. For multiple lines, I would always use COND. But that's really just a minor thing.
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I just gave it a very quick review and trust that you tested it. Looks quite good and I'm really happy that finally someone fixed the self-subscription problem. Great work and thanks! |
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@moesenle Thanks for reviewing and merging! :) |
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For use-case 1:
When subscribing to oneself, subscribers do not wait for answer to send-tcp-header because it would otherwise deadlock. This is applicable because the answer has always been ignored anyway. Additionally, we know the md5 sums to match because we are the same node. Finally, in case of self-subscription publisher do not send response to received tcp-header.
For use-case 2:
When subscribing to oneself, subscribers do not send an xml-rpc to avoid a deadlock. Instead, they directly call |requestTopic| on themselves.