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Adding extra time counter to exit while loop so that controller manager doesn't freeze #458

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merged 12 commits into from
Jun 16, 2021
Merged

Adding extra time counter to exit while loop so that controller manager doesn't freeze #458

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322cc77
Fix ROS Control Denial of Service Issue
krishnachaitanya7 May 25, 2020
d2ff848
Code Refactor: Remove Extra Spaces
krishnachaitanya7 May 25, 2020
cefc0b7
Testing Travis Build
krishnachaitanya7 May 25, 2020
95b2d7a
Testing Travis Build
krishnachaitanya7 May 25, 2020
22e0757
Testing Travis Build
krishnachaitanya7 May 25, 2020
4e43fa9
Test Travis
krishnachaitanya7 Jun 28, 2020
00230b8
Test Travis
krishnachaitanya7 Jun 28, 2020
4baf30a
Added timeout+2 so that exiting the while loop forcibly is a last option
krishnachaitanya7 Jun 28, 2020
ec35580
Added timeout+2 so that exiting the while loop forcibly is a last option
krishnachaitanya7 Jun 28, 2020
64e29b2
Added timeout+2 so that exiting the while loop forcibly is a last option
krishnachaitanya7 Jun 28, 2020
b3c3e1c
Finishing PR
krishnachaitanya7 Jun 28, 2020
4f4c9a6
touch up debug messages
bmagyar Jun 16, 2021
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16 changes: 14 additions & 2 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -604,17 +604,29 @@ bool ControllerManager::switchController(const std::vector<std::string>& start_c

// wait until switch is finished
ROS_DEBUG("Request atomic controller switch from realtime loop");
auto start_time = std::chrono::system_clock::now();
bool timed_out = false;
while (ros::ok() && switch_params_.do_switch)
{
if (!ros::ok())
{
return false;
}
std::this_thread::sleep_for(std::chrono::microseconds(100));
std::chrono::duration<double> diff = std::chrono::system_clock::now() - start_time;
if (diff.count() < timeout+1.0 || timeout == 0){
std::this_thread::sleep_for(std::chrono::microseconds(100));
} else {
ROS_DEBUG("Timed out while switching controllers. Exiting...");
timed_out = true;
break;
}
}
start_request_.clear();
stop_request_.clear();

if(timed_out){
ROS_DEBUG("Exited wait until switch is finished loop using non-ROS-time timeout");
return false;
}
ROS_DEBUG("Successfully switched controllers");
return true;
}
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