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Fix checking of the guard condition. #204

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merged 2 commits into from
Jun 21, 2024
Merged

Fix checking of the guard condition. #204

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fb24401
Fix checking of the guard condition.
clalancette Jun 20, 2024
d830d6f
Make has_triggered_condition args const
Yadunund Jun 21, 2024
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9 changes: 7 additions & 2 deletions rmw_zenoh_cpp/src/detail/guard_condition.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,16 +53,21 @@ void GuardCondition::detach_condition()
condition_variable_ = nullptr;
}

bool GuardCondition::has_triggered() const
{
std::lock_guard<std::mutex> lock(internal_mutex_);
return has_triggered_;
}

///=============================================================================
bool GuardCondition::get_and_reset_trigger()
{
std::lock_guard<std::mutex> lock(internal_mutex_);
bool ret = has_triggered_;

// There is no data associated with the guard condition, so as soon as the callers asks about the
// state, we can immediately reset and get ready for the next trigger.
has_triggered_ = false;

return ret;
}

} // namespace rmw_zenoh_cpp
2 changes: 2 additions & 0 deletions rmw_zenoh_cpp/src/detail/guard_condition.hpp
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Expand Up @@ -35,6 +35,8 @@ class GuardCondition final

void detach_condition();

bool has_triggered() const;

bool get_and_reset_trigger();

private:
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14 changes: 6 additions & 8 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Expand Up @@ -3137,20 +3137,18 @@ rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
}

static bool has_triggered_condition(
rmw_subscriptions_t * subscriptions,
rmw_guard_conditions_t * guard_conditions,
rmw_services_t * services,
rmw_clients_t * clients,
rmw_events_t * events)
const rmw_subscriptions_t * const subscriptions,
const rmw_guard_conditions_t * const guard_conditions,
const rmw_services_t * const services,
const rmw_clients_t * const clients,
const rmw_events_t * const events)
{
static_cast<void>(events);
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wow does this mean we were never actually checking for events?

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No, the code for checking events is down below. We just forgot to remove this (dead) line of code when we actually did implement events.


if (guard_conditions) {
for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
rmw_zenoh_cpp::GuardCondition * gc =
static_cast<rmw_zenoh_cpp::GuardCondition *>(guard_conditions->guard_conditions[i]);
if (gc != nullptr) {
if (gc->get_and_reset_trigger()) {
if (gc->has_triggered()) {
return true;
}
}
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