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do not try to execute head timer in spin_once_impl #17

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do not try to execute head timer in spin_once_impl #17

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4 changes: 3 additions & 1 deletion irobot_events_executor/src/rclcpp/executors/events_executor/events_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,9 +159,11 @@ EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
}

// Select the smallest between input timeout and timer timeout
bool is_timer_timeout = false;
auto next_timer_timeout = timers_manager_->get_head_timeout();
if (next_timer_timeout < timeout) {
timeout = next_timer_timeout;
is_timer_timeout = true;
}

ExecutorEvent event;
Expand All @@ -171,7 +173,7 @@ EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
// arrived before any of the timers expired.
if (has_event) {
this->execute_event(event);
} else {
} else if (is_timer_timeout) {
timers_manager_->execute_head_timer();
}
}
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