Preparing for use of rcl_wait_set_is_valid.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>

rcl_executor/include/rcl_executor/let_executor.h

@@ -48,8 +48,6 @@ typedef struct
   const rcl_allocator_t * allocator;
   /// Wait set (is initialized only in the first call of the rcle_let_executor_spin_some function)
   rcl_wait_set_t wait_set;
-  /// wait_set is valid
-  bool wait_set_valid;
   /// Statistics objects about total number of subscriptions, timers, clients, services, etc.
   rcle_handle_size_t info;
   /// timeout in nanoseconds for rcl_wait() used in rcle_let_executor_spin_once(). Default 100ms

rcl_executor/src/let_executor.c

@@ -76,7 +76,6 @@ rcle_let_executor_get_zero_initialized_executor()
     .max_handles = 0,
     .index = 0,
     .allocator = NULL,
-    .wait_set_valid = false,
     .timeout_ns = 0
   };
   return null_executor;
@@ -103,7 +102,6 @@ rcle_let_executor_init(
   executor->max_handles = number_of_handles;
   executor->index = 0;
   executor->wait_set = rcl_get_zero_initialized_wait_set();
-  executor->wait_set_valid = false;
   executor->allocator = allocator;
   executor->timeout_ns = DEFAULT_WAIT_TIMEOUT_MS;
   // allocate memory for the array
@@ -152,12 +150,11 @@ rcle_let_executor_fini(rcle_let_executor_t * executor)
 
     // free memory of wait_set if it has been initialized
     // calling it with un-initialized wait_set will fail.
-    if (executor->wait_set_valid) {
+    if (rcl_wait_set_is_valid(&executor->wait_set)) {
       rcl_ret_t rc = rcl_wait_set_fini(&executor->wait_set);
       if (rc != RCL_RET_OK) {
         PRINT_RCL_ERROR(rcle_let_executor_fini, rcl_wait_set_fini);
       }
-      executor->wait_set_valid = false;
     }
     executor->timeout_ns = DEFAULT_WAIT_TIMEOUT_MS;
   } else {
@@ -409,7 +406,6 @@ rcle_let_executor_spin_some(rcle_let_executor_t * executor, const uint64_t timeo
   RCL_CHECK_ARGUMENT_FOR_NULL(executor, RCL_RET_INVALID_ARGUMENT);
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "spin_some");
 
-  // the wait_set is initialized only once (aka in the first call of this function)
   if (executor->wait_set_valid == false) {
     // we assume that this is the first time and init has been called
     // or some _add function has been called after spin_some and thereby