Skip to content

Fix a bug on adding unnecessary done callback of future while repeatedly calling spin_until_future_complete (backport #1374) #1530

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

Open
wants to merge 2 commits into
base: jazzy
Choose a base branch
from
Open

Fix a bug on adding unnecessary done callback of future while repeatedly calling spin_until_future_complete (backport #1374) #1530

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
25b7c23
Avoid redundant done callbacks of the future while repeatedly calling…
Barry-Xu-2018 Oct 25, 2024
8aaae46
resolve conflicts.
fujitatomoya Oct 22, 2025
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
29 changes: 25 additions & 4 deletions rclpy/rclpy/executors.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -327,7 +327,7 @@ def spin_until_future_complete(
and not future.cancelled()
and not self._is_shutdown
):
self.spin_once_until_future_complete(future, timeout_sec)
self._spin_once_until_future_complete(future, timeout_sec)
else:
start = time.monotonic()
end = start + timeout_sec
Expand All @@ -339,7 +339,7 @@ def spin_until_future_complete(
and not future.cancelled()
and not self._is_shutdown
):
self.spin_once_until_future_complete(future, timeout_left)
self._spin_once_until_future_complete(future, timeout_left)
now = time.monotonic()

if now >= end:
Expand Down Expand Up @@ -377,6 +377,13 @@ def spin_once_until_future_complete(
"""
raise NotImplementedError()

def _spin_once_until_future_complete(
self,
future: Future,
timeout_sec: Optional[Union[float, TimeoutObject]] = None
) -> None:
raise NotImplementedError()

def _take_timer(self, tmr):
try:
with tmr.handle:
Expand Down Expand Up @@ -844,13 +851,20 @@ def _spin_once_impl(
def spin_once(self, timeout_sec: Optional[float] = None) -> None:
self._spin_once_impl(timeout_sec)

def _spin_once_until_future_complete(
self,
future: Future,
timeout_sec: Optional[Union[float, TimeoutObject]] = None
) -> None:
self._spin_once_impl(timeout_sec, future.done)

def spin_once_until_future_complete(
self,
future: Future,
timeout_sec: Optional[Union[float, TimeoutObject]] = None
) -> None:
future.add_done_callback(lambda x: self.wake())
self._spin_once_impl(timeout_sec, future.done)
self._spin_once_until_future_complete(future, timeout_sec)


class MultiThreadedExecutor(Executor):
Expand Down Expand Up @@ -916,10 +930,17 @@ def _spin_once_impl(
def spin_once(self, timeout_sec: Optional[float] = None) -> None:
self._spin_once_impl(timeout_sec)

def _spin_once_until_future_complete(
self,
future: Future,
timeout_sec: Optional[Union[float, TimeoutObject]] = None
) -> None:
self._spin_once_impl(timeout_sec, future.done)

def spin_once_until_future_complete(
self,
future: Future,
timeout_sec: Optional[Union[float, TimeoutObject]] = None
) -> None:
future.add_done_callback(lambda x: self.wake())
self._spin_once_impl(timeout_sec, future.done)
self._spin_once_until_future_complete(future, timeout_sec)