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Move clear wait set from after rcl_wait to ahead #427

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merged 2 commits into from
Jan 19, 2018
Merged

Move clear wait set from after rcl_wait to ahead #427

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eb6586d
Move clear wait set from after rcl_wait to ahead
jwang11 Jan 11, 2018
77ab3bc
remove trailing whitespace
wjwwood Jan 19, 2018
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31 changes: 16 additions & 15 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -376,6 +376,22 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
)
);
}
// clear wait set
if (rcl_wait_set_clear_subscriptions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear subscriptions from wait set");
}
if (rcl_wait_set_clear_services(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear servicess from wait set");
}
if (rcl_wait_set_clear_clients(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear clients from wait set");
}
if (rcl_wait_set_clear_guard_conditions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear guard conditions from wait set");
}
if (rcl_wait_set_clear_timers(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear timers from wait set");
}

if (rcl_wait_set_resize_subscriptions(
&wait_set_, memory_strategy_->number_of_ready_subscriptions()) != RCL_RET_OK)
Expand Down Expand Up @@ -432,21 +448,6 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
// check the null handles in the wait set and remove them from the handles in memory strategy
// for callback-based entities
memory_strategy_->remove_null_handles(&wait_set_);
if (rcl_wait_set_clear_subscriptions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear subscriptions from wait set");
}
if (rcl_wait_set_clear_services(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear servicess from wait set");
}
if (rcl_wait_set_clear_clients(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear clients from wait set");
}
if (rcl_wait_set_clear_guard_conditions(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear guard conditions from wait set");
}
if (rcl_wait_set_clear_timers(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear timers from wait set");
}
}

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
Expand Down