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Fix Executor not executing tasks if there are no ready entities in the wait set #272

Merged
merged 2 commits into from
Feb 11, 2019
Merged

Fix Executor not executing tasks if there are no ready entities in the wait set #272

merged 2 commits into from
Feb 11, 2019

Commits on Feb 11, 2019

  1. Fix Executor not executing tasks if there are no ready entities in th… 

    …e wait set

If a task is created, then trigger the Executors guard condition. This will wake any blocking call to `rcl_wait()`.
In this scenario, no work is yielded, so we also have to move the check for 'in-progress' tasks into the wait loop.

Added a unit test to reproduce the issue.

This resolves an issue in some cases where the result response from the action server is never processed, therefore never reaching the action client.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
    @jacobperron
    jacobperron committed Feb 11, 2019
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  2. Address review 

    * Fix logic bug in test
* Mitigate race in test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
    @jacobperron
    jacobperron committed Feb 11, 2019
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