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Fix bug that prevented Executor::spin_some() from exiting. #472

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Fix bug that prevented Executor::spin_some() from exiting. #472

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ff9c32f
Fix bug that prevented Executor::spin_some() from exiting.
May 4, 2018
2fdae53
Fixing code style issues
tj10200 May 8, 2018
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17 changes: 12 additions & 5 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,12 +206,19 @@ Executor::spin_some()
throw std::runtime_error("spin_some() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (spinning.load()) {
if (spinning.load()) {
AnyExecutable any_exec;
if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
execute_any_executable(any_exec);
} else {
break;
vector<AnyExecutable> all_executables;

//Collect all of the executables that are pending.
//But don't execute them until the queue of actions
//is flushed out.
while ( get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
all_executables.push_back ( any_exec );
}

for ( auto cur_exec : all_executables ) {
execute_any_executable( cur_exec );
}
}
}
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