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Fix urg_sim CPU usage #150

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merged 1 commit into from
Apr 8, 2024
Merged

Fix urg_sim CPU usage #150

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15 changes: 13 additions & 2 deletions src/urg_sim/urg_sim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -758,13 +758,24 @@

void URGSimulator::fifo(boost::asio::io_service& fifo)
{
boost::asio::deadline_timer keepalive_timer(fifo);
std::function<void(const boost::system::error_code& ec)> keepalive;
keepalive = [&fifo, &keepalive](const boost::system::error_code& ec)

keepalive = [&keepalive_timer, &keepalive](const boost::system::error_code& ec)
{
boost::asio::deadline_timer keepalive_timer(fifo);
if (ec == boost::asio::error::operation_aborted)
{
return;
}
if (ec)
{
std::cerr << "fifo keepalive error: " << ec << std::endl;
return;

Check warning on line 773 in src/urg_sim/urg_sim.cpp

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src/urg_sim/urg_sim.cpp#L772-L773 

Added lines #L772 - L773 were not covered by tests
}
keepalive_timer.expires_from_now(boost::posix_time::hours(1));
keepalive_timer.async_wait(keepalive);
};

while (!killed_)
{
keepalive(boost::system::error_code());
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