Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

use context from node_base_ for clock executor. #1617

Merged
merged 1 commit into from
Apr 2, 2021
Merged

use context from node_base_ for clock executor. #1617

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/time_source.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,7 @@ class TimeSource
std::shared_ptr<SubscriptionT> clock_subscription_{nullptr};
std::mutex clock_sub_lock_;
rclcpp::CallbackGroup::SharedPtr clock_callback_group_;
rclcpp::executors::SingleThreadedExecutor clock_executor_;
rclcpp::executors::SingleThreadedExecutor::SharedPtr clock_executor_;
std::promise<void> cancel_clock_executor_promise_;

// The clock callback itself
Expand Down
12 changes: 8 additions & 4 deletions rclcpp/src/rclcpp/time_source.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -256,13 +256,17 @@ void TimeSource::create_clock_sub()
false
);
options.callback_group = clock_callback_group_;
rclcpp::ExecutorOptions exec_options;
exec_options.context = node_base_->get_context();
clock_executor_ =
std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
if (!clock_executor_thread_.joinable()) {
clock_executor_thread_ = std::thread(
[this]() {
cancel_clock_executor_promise_ = std::promise<void>{};
auto future = cancel_clock_executor_promise_.get_future();
clock_executor_.add_callback_group(clock_callback_group_, node_base_);
clock_executor_.spin_until_future_complete(future);
clock_executor_->add_callback_group(clock_callback_group_, node_base_);
clock_executor_->spin_until_future_complete(future);
}
);
}
Expand All @@ -283,9 +287,9 @@ void TimeSource::destroy_clock_sub()
std::lock_guard<std::mutex> guard(clock_sub_lock_);
if (clock_executor_thread_.joinable()) {
cancel_clock_executor_promise_.set_value();
clock_executor_.cancel();
clock_executor_->cancel();
clock_executor_thread_.join();
clock_executor_.remove_callback_group(clock_callback_group_);
clock_executor_->remove_callback_group(clock_callback_group_);
}
clock_subscription_.reset();
}
Expand Down