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Change TimeSource associated clocks storage to unordered_set #2257

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merged 1 commit into from
Aug 3, 2023
Merged

Change TimeSource associated clocks storage to unordered_set #2257

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13 changes: 6 additions & 7 deletions rclcpp/src/rclcpp/time_source.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <memory>
#include <string>
#include <unordered_set>
#include <utility>
#include <vector>

Expand Down Expand Up @@ -95,7 +96,7 @@ class ClocksState final
}
}
std::lock_guard<std::mutex> guard(clock_list_lock_);
associated_clocks_.push_back(clock);
associated_clocks_.insert(clock);
// Set the clock to zero unless there's a recently received message
set_clock(last_time_msg_, ros_time_active_, clock);
}
Expand All @@ -104,10 +105,8 @@ class ClocksState final
void detachClock(rclcpp::Clock::SharedPtr clock)
{
std::lock_guard<std::mutex> guard(clock_list_lock_);
auto result = std::find(associated_clocks_.begin(), associated_clocks_.end(), clock);
if (result != associated_clocks_.end()) {
associated_clocks_.erase(result);
} else {
auto removed = associated_clocks_.erase(clock);
if (removed == 0) {
RCLCPP_ERROR(logger_, "failed to remove clock");
}
}
Expand Down Expand Up @@ -184,8 +183,8 @@ class ClocksState final

// A lock to protect iterating the associated_clocks_ field.
std::mutex clock_list_lock_;
// A vector to store references to associated clocks.
std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
// An unordered_set to store references to associated clocks.
std::unordered_set<rclcpp::Clock::SharedPtr> associated_clocks_;

// Local storage of validity of ROS time
// This is needed when new clocks are added.
Expand Down