Skip to content

fix(rclcpp_action): Fix sleep of expire thread in case of canceled timer #2800

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jmachowinski merged 1 commit into from
Apr 11, 2025
Merged

fix(rclcpp_action): Fix sleep of expire thread in case of canceled timer #2800

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 2 additions & 3 deletions rclcpp_action/src/server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -184,9 +184,8 @@ class ServerBaseImpl

auto ret2 = rcl_timer_get_time_until_next_call(expire_timer, &time_until_call);
if (ret2 == RCL_RET_TIMER_CANCELED) {
rclcpp::Time endless(std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::hours(100)).count(), clock_type);
expire_cv->wait_until(l, endless, [this] () -> bool {
rclcpp::Duration endless(std::chrono::hours(100));
expire_cv->wait_until(l, clock_->now() + endless, [this] () -> bool {
return expire_time_changed || terminate_expire_thread;
});
continue;
Expand Down