Fixup Executor::spin_all() regression fix (backport #2517) #2521
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* test(Executors): Added tests for busy waiting Checks if executors are busy waiting while they should block in spin_some or spin_all. Signed-off-by: Janosch Machowinski <[email protected]> * fix: Reworked spinAll test This test was strange. It looked like, it assumed that spin_all did not return instantly. Also it was racy, as the thread could terminate instantly. Signed-off-by: Janosch Machowinski <[email protected]> * fix(Executor): Fixed spin_all not returning instantly is no work was available Signed-off-by: Janosch Machowinski <[email protected]> * Update rclcpp/test/rclcpp/executors/test_executors.cpp Co-authored-by: Tomoya Fujita <[email protected]> Signed-off-by: jmachowinski <[email protected]> * test(executors): Added test for busy waiting while calling spin Signed-off-by: Janosch Machowinski <[email protected]> * fix(executor): Reset wait_result on every call to spin_some_impl Before, the method would not recollect available work in case of spin_some, spin_all. This would lead to the method behaving differently than to what the documentation states. Signed-off-by: Janosch Machowinski <[email protected]> * restore previous test logic for now Signed-off-by: William Woodall <[email protected]> * refactor spin_some_impl's logic and improve busy wait tests Signed-off-by: William Woodall <[email protected]> * added some more comments about the implementation Signed-off-by: William Woodall <[email protected]> --------- Signed-off-by: Janosch Machowinski <[email protected]> Signed-off-by: jmachowinski <[email protected]> Signed-off-by: William Woodall <[email protected]> Co-authored-by: Janosch Machowinski <[email protected]> Co-authored-by: jmachowinski <[email protected]> Co-authored-by: Tomoya Fujita <[email protected]> (cherry picked from commit f7185dc)
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mjcarroll
approved these changes
May 2, 2024
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This is a follow up of #2509 which addresses #2508.
This is an automatic backport of pull request #2517 done by Mergify.