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Move clear wait set from after rcl_wait to ahead #427

Merged
merged 2 commits into from
Jan 19, 2018
Merged

Move clear wait set from after rcl_wait to ahead #427

merged 2 commits into from
Jan 19, 2018

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jwang11
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@jwang11 jwang11 commented Jan 11, 2018

Current code do clear wait set after rcl_wait, it is not respond latency
friendly. In fact, clear wait set operation is not urgent, making sure it is
done before next rcl_wait should be fine. With this commit, ready task
will get executed more quickly

Signed-off-by: jwang [email protected]

@jwang11
Move clear wait set from after rcl_wait to ahead
eb6586d 
Current code clear wait set after rcl_wait, it is not respond latency
friendly. In fact, clear wait set operation is not urgent, making sure it is
done before next rcl_wait should be fine.

Signed-off-by: jwang <[email protected]>
wjwwood
wjwwood approved these changes Jan 12, 2018
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This seems reasonable to me, anyone else object?

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wjwwood commented Jan 12, 2018

I'm combining the CI for this pr and ros2/rcl#207:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@wjwwood wjwwood mentioned this pull request Jan 12, 2018
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Before the wait_set_ was already "cleared" when the function wait_for_work() returned. Now that is not the case anymore (since it is being done on the next call of wait_for_work()). Does that require that the cleanup logic in the destructor needs to take care of that instead?

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wjwwood commented Jan 12, 2018

I would say no, since it only prepares the storage to be used in a repeated loop, it doesn't clean up any resources or anything. It's analogous to memset to zero. The docs reflect this as well:

https://github.com/ros2/rcl/blob/c09f6428d57ea715ad26067cc4c3e581343eea9b/rcl/include/rcl/wait.h#L212-L234

@dirk-thomas dirk-thomas added the in review Waiting for review (Kanban column) label Jan 18, 2018
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wjwwood commented Jan 19, 2018 •
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@jwang11 this was failing our linters due to trailing whitespace, but I think I fixed it in 77ab3bc.

New CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status (unrelated test failure)
  • Windows Build Status (ignoring false positive in cmake warning detection)

@wjwwood wjwwood merged commit e08c800 into ros2:master Jan 19, 2018
@wjwwood wjwwood removed the in review Waiting for review (Kanban column) label Jan 19, 2018
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022
@jacobperron
Improve help message for CLI verbs (ros2#427)
64f791d 
* Improve help message for CLI verbs

Signed-off-by: Jacob Perron <[email protected]>

* Apply suggestion from review

Signed-off-by: Jacob Perron <[email protected]>
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@jwang11 @wjwwood @dirk-thomas