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fix Timers not being invoked when using ActionClients or ActionServer within the same node #130

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merged 2 commits into from
Apr 15, 2024
Merged

fix Timers not being invoked when using ActionClients or ActionServer within the same node #130

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84aa569
fix Timers not being invoked when using ActionClients or ActionServer…
hofmannmarkus0 Apr 11, 2024
7b94df8
reword comment about order of adding waitables
hoffmann-stefan Apr 15, 2024
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16 changes: 11 additions & 5 deletions rcldotnet/RCLdotnet.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1221,6 +1221,17 @@ public static void SpinOnce(Node node, long timeout)
WaitSetAddGuardCondition(waitSetHandle, guardCondition.Handle);
}

foreach (var timer in node.Timers)
{
WaitSetAddTimer(waitSetHandle, timer.Handle);
}

// Action clients and servers need to be registerd after all the
// others that are handled by
// RCLdotnetDelegates.native_rcl_wait_set_*_ready methods, as
// they track indexes of the given waitables. Adding action
// clients and action servers before will get those indexes
// mixed up.
foreach (var actionClient in node.ActionClients)
{
WaitSetAddActionClient(waitSetHandle, actionClient.Handle);
Expand All @@ -1231,11 +1242,6 @@ public static void SpinOnce(Node node, long timeout)
WaitSetAddActionServer(waitSetHandle, actionServer.Handle);
}

foreach (var timer in node.Timers)
{
WaitSetAddTimer(waitSetHandle, timer.Handle);
}

bool ready = Wait(waitSetHandle, timeout);
if (!ready)
{
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