improved rcl_wait in the area of timeout computation and spurious wakeups#1146
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March 31, 2024 12:18
Signed-off-by: Janosch Machowinski <j.machowinski@nospam.org>
Signed-off-by: Janosch Machowinski <j.machowinski@nospam.org>
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lgtm. i think this should work for failed cases https://ci.ros2.org/job/ci_linux/20668/testReport/.
@jmachowinski thank you very much for your effort including weekend!
I will start the CI. (I will exclude ros2/rclcpp#2469, to verify this specific PR 1st.)
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Added special handling for timers with a clock that has time override enabled. For these timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived. Signed-off-by: Janosch Machowinski <j.machowinski@nospam.org>
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fixed the linting problem |
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Full CI: (ros2/rclcpp#2469 is already merged)
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https://ci.ros2.org/job/ci_windows/21389/testReport/junit/rclpy/flake8/A006____rclpy_node_py_989_20_/ is known issue, and unrelated to this PR. |
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(cherry-picked from commit 2e9549c) Signed-off-by: Nathan Hui <ncynhui@gmail.com>
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* Added rcl_timer_get_next_call_time (#1146) (cherry-picked from commit 2e9549c) Signed-off-by: Nathan Hui <205866820+n8hui@users.noreply.github.com> * Add unit test for rcl_timer_get_next_call_time Signed-off-by: Nathan Hui <205866820+n8hui@users.noreply.github.com> --------- Signed-off-by: Nathan Hui <205866820+n8hui@users.noreply.github.com>
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This fixes the issues reported by #1142.
Fixed a bug that a ready override timer would not wake up the wait set.
Adopted the test to catch this condition.
@clalancette, @mjcarroll , @fujitatomoya , @wjwwood