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Store reference to rcl_clock_t instead of copy #797

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Merged
sloretz merged 1 commit into from
Sep 11, 2020
Merged

Store reference to rcl_clock_t instead of copy #797

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18 changes: 10 additions & 8 deletions rcl_action/src/rcl_action/action_server.c
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ rcl_action_server_init(
action_server->impl->options = *options; // copy options
action_server->impl->goal_handles = NULL;
action_server->impl->num_goal_handles = 0u;
action_server->impl->clock.type = RCL_CLOCK_UNINITIALIZED;
action_server->impl->clock = NULL;

rcl_ret_t ret = RCL_RET_OK;
// Initialize services
Expand All @@ -170,12 +170,12 @@ rcl_action_server_init(
PUBLISHER_INIT(feedback);
PUBLISHER_INIT(status);

// Copy clock
action_server->impl->clock = *clock;
// Store reference to clock
action_server->impl->clock = clock;

// Initialize Timer
ret = rcl_timer_init(
&action_server->impl->expire_timer, &action_server->impl->clock, node->context,
&action_server->impl->expire_timer, action_server->impl->clock, node->context,
options->result_timeout.nanoseconds, NULL, allocator);
if (RCL_RET_OK != ret) {
goto fail;
Expand Down Expand Up @@ -235,6 +235,8 @@ rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node)
if (rcl_timer_fini(&action_server->impl->expire_timer) != RCL_RET_OK) {
ret = RCL_RET_ERROR;
}
// Ditch clock reference
action_server->impl->clock = NULL;
// Deallocate action name
rcl_allocator_t allocator = action_server->impl->options.allocator;
if (action_server->impl->action_name) {
Expand Down Expand Up @@ -380,7 +382,7 @@ rcl_action_accept_new_goal(
rcl_action_goal_info_t goal_info_stamp_now = rcl_action_get_zero_initialized_goal_info();
goal_info_stamp_now = *goal_info;
rcl_time_point_value_t now_time_point;
rcl_ret_t ret = rcl_clock_get_now(&action_server->impl->clock, &now_time_point);
rcl_ret_t ret = rcl_clock_get_now(action_server->impl->clock, &now_time_point);
if (RCL_RET_OK != ret) {
return NULL; // Error already set
}
Expand Down Expand Up @@ -584,7 +586,7 @@ rcl_action_expire_goals(

// Get current time (nanosec)
int64_t current_time;
rcl_ret_t ret = rcl_clock_get_now(&action_server->impl->clock, &current_time);
rcl_ret_t ret = rcl_clock_get_now(action_server->impl->clock, &current_time);
if (RCL_RET_OK != ret) {
return RCL_RET_ERROR;
}
Expand Down Expand Up @@ -659,7 +661,7 @@ rcl_action_expire_goals(
action_server->impl->options.result_timeout.nanoseconds,
action_server->impl->goal_handles,
action_server->impl->num_goal_handles,
&action_server->impl->clock);
action_server->impl->clock);

// If argument is not null, then set it
if (NULL != num_expired) {
Expand All @@ -680,7 +682,7 @@ rcl_action_notify_goal_done(
action_server->impl->options.result_timeout.nanoseconds,
action_server->impl->goal_handles,
action_server->impl->num_goal_handles,
&action_server->impl->clock);
action_server->impl->clock);
}

rcl_ret_t
Expand Down
2 changes: 1 addition & 1 deletion rcl_action/src/rcl_action/action_server_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ typedef struct rcl_action_server_impl_t
rcl_action_goal_handle_t ** goal_handles;
size_t num_goal_handles;
// Clock
rcl_clock_t clock;
rcl_clock_t * clock;
// Wait set records
size_t wait_set_goal_service_index;
size_t wait_set_cancel_service_index;
Expand Down