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DRAFT: Fix: Double spin required since 28.2.0 #2595

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DRAFT: Fix: Double spin required since 28.2.0 #2595

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0705e71
fix: Double spin required since 28.2.0
Aug 2, 2024
5e75140
Update rclcpp/src/rclcpp/executor.cpp
jmachowinski Jan 10, 2025
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21 changes: 21 additions & 0 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -726,6 +726,27 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
{
TRACETOOLS_TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());

// query, if notify_waitable_ was triggered by a guard condition
// make sure that it is executed before the wait, as this enforces
// a collection rebuild before the wait.
{
// the real one has been added to the main waitset, therefore we need to create a copy
executors::ExecutorNotifyWaitable::SharedPtr notify_cpy = std::make_shared<executors::ExecutorNotifyWaitable>(*notify_waitable_);

rclcpp::WaitSet notify_only_wait_set_({}, {}, {}, {}, {}, {}, context_);
notify_only_wait_set_.add_waitable(notify_cpy);
auto res = notify_only_wait_set_.wait(std::chrono::nanoseconds(0));
if(res.kind() == WaitResultKind::Ready) {
auto & rcl_wait_set = res.get_wait_set().get_rcl_wait_set();
if (notify_cpy->is_ready(rcl_wait_set)) {
notify_cpy->execute(notify_cpy->take_data());

// make sure we don't loos a wakeup
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interrupt_guard_condition_->trigger();
}
}
}

// Clear any previous wait result
this->wait_result_.reset();

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