Ensure workers wake up when a task is run

mxgrey · mxgrey · commit 5f6015a31071 · 2025-05-13T08:56:38.000Z
Signed-off-by: Michael X. Grey &lt;mxgrey@intrinsic.ai&gt;
diff --git a/rclrs/src/executor.rs b/rclrs/src/executor.rs
@@ -147,7 +147,6 @@ impl ExecutorCommands {
     /// Tell the [`Executor`] to halt its spinning.
     pub fn halt_spinning(&self) {
         self.halt_spinning.store(true, Ordering::Release);
-        // TODO(@mxgrey): Log errors here when logging becomes available
         self.executor_channel.wake_all_wait_sets();
     }
 
@@ -297,6 +296,7 @@ impl WorkerCommands {
 
     pub(crate) fn run_on_payload(&self, task: PayloadTask) {
         self.channel.send_payload_task(task);
+        let _ = self.wakeup_wait_set.trigger();
     }
 
     pub(crate) fn add_activity_listener(&self, listener: WeakActivityListener) {

Original file line number	Diff line number	Diff line change
`@@ -147,7 +147,6 @@ impl ExecutorCommands {`
`147`	`147`	/// Tell the [`Executor`] to halt its spinning.
`148`	`148`	`pub fn halt_spinning(&self) {`
`149`	`149`	`self.halt_spinning.store(true, Ordering::Release);`
`150`		`- // TODO(@mxgrey): Log errors here when logging becomes available`
`151`	`150`	`self.executor_channel.wake_all_wait_sets();`
`152`	`151`	`}`
`153`	`152`
`@@ -297,6 +296,7 @@ impl WorkerCommands {`
`297`	`296`
`298`	`297`	`pub(crate) fn run_on_payload(&self, task: PayloadTask) {`
`299`	`298`	`self.channel.send_payload_task(task);`
	`299`	`+ let _ = self.wakeup_wait_set.trigger();`
`300`	`300`	`}`
`301`	`301`
`302`	`302`	`pub(crate) fn add_activity_listener(&self, listener: WeakActivityListener) {`