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optimize timeout judgement according to different condition #187

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merged 3 commits into from
Feb 7, 2018
Merged

optimize timeout judgement according to different condition #187

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ef574a7
optimize timeout judgement according to different condition
jwang11 Jan 22, 2018
08ab218
replace cv->wait(lock) with cv->wait(lock, predicate) and simplify ti…
jwang11 Jan 25, 2018
128309e
Improve logic to return TIMEOUT when not hasData && timeout->sec/nsec==0
jwang11 Jan 31, 2018
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30 changes: 9 additions & 21 deletions rmw_fastrtps_cpp/src/rmw_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -143,26 +143,22 @@ rmw_wait(
// otherwise the decision to wait might be incorrect
std::unique_lock<std::mutex> lock(*conditionMutex);

// First check variables.
// If wait_timeout is null, wait indefinitely (so we have to wait)
// If wait_timeout is not null and either of its fields are nonzero, we have to wait
bool hasToWait = (wait_timeout && (wait_timeout->sec > 0 || wait_timeout->nsec > 0)) ||
!wait_timeout;
hasToWait &= !check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
bool hasData = check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
auto predicate = [subscriptions, guard_conditions, services, clients]() {
return check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
};

bool timeout = false;

if (hasToWait) {
if (!hasData) {
if (!wait_timeout) {
conditionVariable->wait(lock);
} else {
auto predicate = [subscriptions, guard_conditions, services, clients]() {
return check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
};
conditionVariable->wait(lock, predicate);
} else if (wait_timeout->sec > 0 || wait_timeout->nsec > 0) {
auto n = std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::seconds(wait_timeout->sec));
n += std::chrono::nanoseconds(wait_timeout->nsec);
timeout = !conditionVariable->wait_for(lock, n, predicate);
} else {
timeout = true;
}
}

Expand All @@ -173,14 +169,6 @@ rmw_wait(
// after we check, it will be caught on the next call to this function).
lock.unlock();

// Even if this was a non-blocking wait, signal a timeout if there's no data.
// This makes the return behavior consistent with rcl expectations for zero timeout value.
// Do this before detaching the listeners because the data gets cleared for guard conditions.
bool hasData = check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
if (!hasData && wait_timeout && wait_timeout->sec == 0 && wait_timeout->nsec == 0) {
timeout = true;
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Removing this is what causes the tests to fail. If the timeout is reached (even if the timeout is 0) RMW_RET_TIMEOUT should be returned (or at least that's what the test expects)

}

if (subscriptions) {
for (size_t i = 0; i < subscriptions->subscriber_count; ++i) {
void * data = subscriptions->subscribers[i];
Expand Down