improved rcl_wait in the area of timeout computation and spurious wakeups #1135
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added 3 commits
March 7, 2024 20:47
Signed-off-by: Janosch Machowinski <[email protected]>
Added special handling for timers with a clock that has time override enabled. For theses timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived. Signed-off-by: Janosch Machowinski <[email protected]>
Signed-off-by: Janosch Machowinski <[email protected]>
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@sloretz You added the TODO, perhaps you want to have a look at this. |
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@jmachowinski some linting as well as test failures on this one, can you take a look? |
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This commit changes the computation of the timer timeout, to be more precise, in the case, of many registered timers. Signed-off-by: Janosch Machowinski <[email protected]>
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@mjcarroll fixed |
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mjcarroll
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Mar 29, 2024
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Note that this was reverted in #1142 (comment), and we'll be working on re-applying this change with a fix to avoid broken tests asap. |
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Found the bug, and also some bugs in the test. I will push a PR tomorrow. |
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These patches fix unneeded wake ups in case timer override is active.
Also the improve the timeout computation in case of many registered timers.