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Avoid race that triggers timer too often #621

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merged 1 commit into from
Mar 23, 2019
Merged

Avoid race that triggers timer too often #621

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1 change: 0 additions & 1 deletion rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,6 @@ class MultiThreadedExecutor : public executor::Executor
size_t number_of_threads_;
bool yield_before_execute_;

std::mutex scheduled_timers_mutex_;
std::set<TimerBase::SharedPtr> scheduled_timers_;
};

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3 changes: 1 addition & 2 deletions rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
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Expand Up @@ -82,7 +82,6 @@ MultiThreadedExecutor::run(size_t)
}
if (any_exec.timer) {
// Guard against multiple threads getting the same timer.
std::lock_guard<std::mutex> lock(scheduled_timers_mutex_);
if (scheduled_timers_.count(any_exec.timer) != 0) {
continue;
}
Expand All @@ -96,7 +95,7 @@ MultiThreadedExecutor::run(size_t)
execute_any_executable(any_exec);

if (any_exec.timer) {
std::lock_guard<std::mutex> lock(scheduled_timers_mutex_);
std::lock_guard<std::mutex> wait_lock(wait_mutex_);
auto it = scheduled_timers_.find(any_exec.timer);
if (it != scheduled_timers_.end()) {
scheduled_timers_.erase(it);
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