[foxy backport] Refactor launch service run_async loop to wait on futures and queued events (#449)#455
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jacobperron merged 1 commit intofoxyfrom Aug 27, 2020
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…events (#449) Fixes ros2/launch_ros#169 Otherwise, it's possible to get into a hung state where we wait for an event, even though there are no more events. This is because the check for an "idle" state evaluates to "True" as we wait for some futures to complete. By waiting for futures and events concurrently, we can avoid this problem. Further, we don't have to wait for an event if there's nothing in the queue. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Wait until one event is processed or nothing done (timeout) Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix bugs Always create a task to wait on and cancel it if there is a timeout. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Avoid canceling an event mid-processing Signed-off-by: Jacob Perron <jacob@openrobotics.org> * minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Guard against leaving a task pending Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Further refactoring We don't need to have an inner loop or timeout when waiting on futures. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Only wait on futures if there are no events in the queue This prevents spurious wake-ups when we're waiting for an event to finish processing. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Backport #449 to Foxy.