Spin session on empty wait (#233) (#238)

mergify[bot] · pablogs9 · web-flow · commit 10c440d270e9 · 2022-03-25T11:03:09.000+01:00
* Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit 7670ac9) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
diff --git a/rmw_microxrcedds_c/src/rmw_wait.c b/rmw_microxrcedds_c/src/rmw_wait.c
@@ -17,6 +17,7 @@
 
 #include <rmw/rmw.h>
 #include <rmw/time.h>
+#include <uxr/client/core/session/session.h>
 
 #include "./rmw_microros_internal/utils.h"
 
@@ -108,6 +109,14 @@ rmw_wait(
       }
       item = item->next;
     }
+  } else {
+    // Spin with no blocking to handle session metatraffic
+    item = session_memory.allocateditems;
+    while (item != NULL) {
+      rmw_context_impl_t * custom_context = (rmw_context_impl_t *)item->data;
+      uxr_run_session_timeout(&custom_context->session, 0);
+      item = item->next;
+    }
   }
 
   UXR_UNLOCK(&rmw_uxrce_wait_mutex);

Original file line number	Diff line number	Diff line change
`@@ -17,6 +17,7 @@`
`17`	`17`
`18`	`18`	`#include <rmw/rmw.h>`
`19`	`19`	`#include <rmw/time.h>`
	`20`	`+#include <uxr/client/core/session/session.h>`
`20`	`21`
`21`	`22`	`#include "./rmw_microros_internal/utils.h"`
`22`	`23`
`@@ -108,6 +109,14 @@ rmw_wait(`
`108`	`109`	`}`
`109`	`110`	`item = item->next;`
`110`	`111`	`}`
	`112`	`+ } else {`
	`113`	`+ // Spin with no blocking to handle session metatraffic`
	`114`	`+ item = session_memory.allocateditems;`
	`115`	`+ while (item != NULL) {`
	`116`	`+ rmw_context_impl_t * custom_context = (rmw_context_impl_t *)item->data;`
	`117`	`+ uxr_run_session_timeout(&custom_context->session, 0);`
	`118`	`+ item = item->next;`
	`119`	`+ }`
`111`	`120`	`}`
`112`	`121`
`113`	`122`	`UXR_UNLOCK(&rmw_uxrce_wait_mutex);`