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Removed executor->initialized flag.
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Added a convenience function  _rcle_let_executor_is_valid(rcle_let_executor_t * executor) which checks internallly if the executor object is valid (aka handles is NULL). For this to work, it is necessary that the user first creates an executor variable with the function rcle_let_executor_get_zero_initialized_executor(void)
like in rcl.
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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@JanStaschulat
JanStaschulat committed Nov 26, 2019
1 parent cdf1a85 commit ff05897
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Showing 2 changed files with 63 additions and 33 deletions.
8 changes: 6 additions & 2 deletions rcl_executor/include/rcl_executor/let_executor.h
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Expand Up @@ -54,11 +54,15 @@ typedef struct
rcle_handle_size_t info;
/// timeout in nanoseconds for rcl_wait() used in rcle_let_executor_spin_once(). Default 100ms
uint64_t timeout_ns;
/// Flag is true, if executor is initialized, is reset in rcle_let_executor_fini
bool initialized;
} rcle_let_executor_t;


/**
* Return a rcle_let_executor_t struct with pointer members initialized to `NULL`
* and member variables to 0.
*/
rcle_let_executor_t
rcle_let_executor_get_zero_initialized_executor(void);
/**
* Initializes an executor.
* It creates a dynamic array with size \p number_of_handles using the
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88 changes: 57 additions & 31 deletions rcl_executor/src/let_executor.c
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Expand Up @@ -18,6 +18,9 @@
#include <sys/time.h> // for gettimeofday()
#include <unistd.h> // for usleep()

// default timeout for rcl_wait() is 100ms
#define DEFAULT_WAIT_TIMEOUT_MS 100000000

// declarations of helper functions

/// get new data from DDS queue for handle i
Expand All @@ -42,6 +45,41 @@ _rcle_print_handles(rcle_let_executor_t * executor)
rcle_handle_print(&executor->handles[i]);
}
}
// rationale: user must create an executor with:
// executor = rcle_let_executor_get_zero_initialized_executor();
// then handles==NULL or not (e.g. properly initialized)
static
bool
_rcle_let_executor_is_valid(rcle_let_executor_t * executor)
{
RCL_CHECK_FOR_NULL_WITH_MSG(executor, "executor pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
executor->handles, "handle pointer is invalid", return false);
RCL_CHECK_FOR_NULL_WITH_MSG(
executor->allocator, "allocator pointer is invalid", return false);
if (executor->max_handles == 0) {
return false;
}

return true;
}

// wait_set and rcle_handle_size_t are structs and cannot be statically
// initialized here.
rcle_let_executor_t
rcle_let_executor_get_zero_initialized_executor()
{
static rcle_let_executor_t null_executor = {
.context = NULL,
.handles = NULL,
.max_handles = 0,
.index = 0,
.allocator = NULL,
.wait_set_initialized = false,
.timeout_ns = 0
};
return null_executor;
}

rcl_ret_t
rcle_let_executor_init(
Expand All @@ -50,47 +88,41 @@ rcle_let_executor_init(
const size_t number_of_handles,
const rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(e, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(executor, "executor is NULL", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(context, "context is NULL", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "allocator is NULL", return RCL_RET_INVALID_ARGUMENT);

if (number_of_handles == 0) {
RCL_SET_ERROR_MSG("number_of_handles is 0. Must be larger or equal to 1");
return RCL_RET_INVALID_ARGUMENT;
}

rcl_ret_t ret = RCL_RET_OK;
e->context = context;
e->max_handles = number_of_handles;
e->index = 0;
executor->context = context;
executor->max_handles = number_of_handles;
executor->index = 0;

// e->wait_set willl be initialized only once in the rcle_executor_spin_some function
e->wait_set_initialized = false;
// executor->wait_set willl be initialized only once in the rcle_executor_spin_some function
executor->wait_set_initialized = false;

e->allocator = allocator;
e->timeout_ns = 100000000; // default value 100ms = 100 000 000 ns
executor->allocator = allocator;
executor->timeout_ns = DEFAULT_WAIT_TIMEOUT_MS;
// allocate memory for the array
e->handles = e->allocator->allocate( (number_of_handles * sizeof(rcle_handle_t)),
e->allocator->state);
if (NULL == e->handles) {
executor->handles = executor->allocator->allocate( (number_of_handles * sizeof(rcle_handle_t)),
executor->allocator->state);
if (NULL == executor->handles) {
RCL_SET_ERROR_MSG("Could not allocate memory for 'handles'.");
return RCL_RET_BAD_ALLOC;
}

// initialize handle
for (size_t i = 0; i < number_of_handles; i++) {
rcle_handle_init(&e->handles[i], number_of_handles);
rcle_handle_init(&executor->handles[i], number_of_handles);
}

// debug: output handle
/*
for (size_t i = 0; i < number_of_handles;i++)
{
rcle_handle_print(& e->handles[i] );
}
*/
// initialize #counts for handle types
rcle_handle_size_zero_init(&e->info);
e->initialized = true;
rcle_handle_size_zero_init(&executor->info);

return ret;
}

Expand All @@ -100,7 +132,7 @@ rcle_let_executor_set_timeout(rcle_let_executor_t * executor, const uint64_t tim
RCL_CHECK_FOR_NULL_WITH_MSG(
executor, "executor is null pointer", return RCL_RET_INVALID_ARGUMENT);
rcl_ret_t ret = RCL_RET_OK;
if (executor->initialized) {
if (_rcle_let_executor_is_valid(executor)) {
executor->timeout_ns = timeout_ns;
} else {
RCL_SET_ERROR_MSG("executor not initialized.");
Expand All @@ -112,13 +144,9 @@ rcle_let_executor_set_timeout(rcle_let_executor_t * executor, const uint64_t tim
rcl_ret_t
rcle_let_executor_fini(rcle_let_executor_t * executor)
{
RCL_CHECK_FOR_NULL_WITH_MSG(
executor, "executor is null pointer", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(
executor->handles, "memory for exector->handles is NULL", return RCL_RET_ERROR);
rcl_ret_t ret = RCL_RET_OK;

if (executor->initialized) {
if (_rcle_let_executor_is_valid(executor)) {
executor->allocator->deallocate(executor->handles, executor->allocator->state);
executor->max_handles = 0;
executor->index = 0;
Expand All @@ -133,9 +161,7 @@ rcle_let_executor_fini(rcle_let_executor_t * executor)
}
executor->wait_set_initialized = false;
}

executor->initialized = false;
// todo(jst3si) reset timeout to default value
executor->timeout_ns = DEFAULT_WAIT_TIMEOUT_MS;
} else {
RCL_SET_ERROR_MSG("executor not initialized or called _fini function twice");
ret = RCL_RET_ERROR; // TODO(jst3si) better name for "calling this function multiple times"
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