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Make Executor::spin_some() only check for work once #844

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Nov 22, 2019
Merged

Make Executor::spin_some() only check for work once #844

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85 changes: 48 additions & 37 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,9 +234,11 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
throw std::runtime_error("spin_some() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
// non-blocking call to pre-load all available work
wait_for_work(std::chrono::milliseconds::zero());
while (spinning.load() && max_duration_not_elapsed()) {
AnyExecutable any_exec;
if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
if (get_next_ready_executable(any_exec)) {
execute_any_executable(any_exec);
} else {
break;
Expand Down Expand Up @@ -531,51 +533,39 @@ Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
bool
Executor::get_next_ready_executable(AnyExecutable & any_executable)
{
bool success = false;
// Check the timers to see if there are any that are ready
memory_strategy_->get_next_timer(any_executable, weak_nodes_);
if (any_executable.timer) {
return true;
}
// Check the subscriptions to see if there are any that are ready
memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
if (any_executable.subscription) {
return true;
success = true;
}
// Check the services to see if there are any that are ready
memory_strategy_->get_next_service(any_executable, weak_nodes_);
if (any_executable.service) {
return true;
if (!success) {
// Check the subscriptions to see if there are any that are ready
memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
if (any_executable.subscription) {
success = true;
}
}
// Check the clients to see if there are any that are ready
memory_strategy_->get_next_client(any_executable, weak_nodes_);
if (any_executable.client) {
return true;
if (!success) {
// Check the services to see if there are any that are ready
memory_strategy_->get_next_service(any_executable, weak_nodes_);
if (any_executable.service) {
success = true;
}
}
// Check the waitables to see if there are any that are ready
memory_strategy_->get_next_waitable(any_executable, weak_nodes_);
if (any_executable.waitable) {
return true;
if (!success) {
// Check the clients to see if there are any that are ready
memory_strategy_->get_next_client(any_executable, weak_nodes_);
if (any_executable.client) {
success = true;
}
}
// If there is no ready executable, return a null ptr
return false;
}

bool
Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanoseconds timeout)
{
bool success = false;
// Check to see if there are any subscriptions or timers needing service
// TODO(wjwwood): improve run to run efficiency of this function
success = get_next_ready_executable(any_executable);
// If there are none
if (!success) {
// Wait for subscriptions or timers to work on
wait_for_work(timeout);
if (!spinning.load()) {
return false;
// Check the waitables to see if there are any that are ready
memory_strategy_->get_next_waitable(any_executable, weak_nodes_);
if (any_executable.waitable) {
success = true;
}
// Try again
success = get_next_ready_executable(any_executable);
}
// At this point any_exec should be valid with either a valid subscription
// or a valid timer, or it should be a null shared_ptr
Expand All @@ -595,6 +585,27 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
any_executable.callback_group->can_be_taken_from().store(false);
}
}
// If there is no ready executable, return a null ptr
return success;
}

bool
Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanoseconds timeout)
{
bool success = false;
// Check to see if there are any subscriptions or timers needing service
// TODO(wjwwood): improve run to run efficiency of this function
success = get_next_ready_executable(any_executable);
// If there are none
if (!success) {
// Wait for subscriptions or timers to work on
wait_for_work(timeout);
if (!spinning.load()) {
return false;
}
// Try again
success = get_next_ready_executable(any_executable);
}
return success;
}

Expand Down