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account for spurious wake ups from std::condition_variable::wait_for #144

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merged 2 commits into from
Nov 4, 2015
Merged

account for spurious wake ups from std::condition_variable::wait_for #144

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dd6aeb2
add interrupted bool, to account for spurious wake ups from std::cond…
wjwwood Nov 3, 2015
426b77b
fix deleted invocation of copy constructor on Linux
Nov 3, 2015
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18 changes: 15 additions & 3 deletions rclcpp/include/rclcpp/utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ rmw_guard_condition_t * g_sigint_guard_cond_handle = \
rmw_create_guard_condition();
/// Condition variable for timed sleep (see sleep_for).
std::condition_variable g_interrupt_condition_variable;
std::atomic<bool> g_is_interrupted(false);
/// Mutex for protecting the global condition variable.
std::mutex g_interrupt_mutex;

Expand Down Expand Up @@ -95,6 +96,7 @@ signal_handler(int signal_value)
fprintf(stderr,
"[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
}
g_is_interrupted.store(true);
g_interrupt_condition_variable.notify_all();
}
} // namespace
Expand All @@ -117,6 +119,7 @@ init(int argc, char * argv[])
{
(void)argc;
(void)argv;
g_is_interrupted.store(false);
rmw_ret_t status = rmw_init();
if (status != RMW_RET_OK) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
Expand Down Expand Up @@ -170,6 +173,7 @@ shutdown()
fprintf(stderr,
"[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
}
g_is_interrupted.store(true);
g_interrupt_condition_variable.notify_all();
}

Expand All @@ -190,10 +194,18 @@ bool
sleep_for(const std::chrono::nanoseconds & nanoseconds)
{
// TODO: determine if posix's nanosleep(2) is more efficient here
std::unique_lock<std::mutex> lock(::g_interrupt_mutex);
auto cvs = ::g_interrupt_condition_variable.wait_for(lock, nanoseconds);
std::chrono::nanoseconds time_left = nanoseconds;
{
std::unique_lock<std::mutex> lock(::g_interrupt_mutex);
auto start = std::chrono::steady_clock::now();
::g_interrupt_condition_variable.wait_for(lock, nanoseconds);
time_left -= std::chrono::steady_clock::now() - start;
}
if (time_left > std::chrono::nanoseconds::zero() && !g_is_interrupted) {
return sleep_for(time_left);
}
// Return true if the timeout elapsed successfully, otherwise false.
return cvs != std::cv_status::no_timeout;
return !g_is_interrupted;
}

} /* namespace utilities */
Expand Down