Address peer review comments

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
ros2 · Dec 1, 2022 · ee89dc1 · ee89dc1
1 parent 85ea3a9
commit ee89dc1
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/launch/launch/actions/execute_local.py b/launch/launch/actions/execute_local.py
@@ -541,8 +541,6 @@ async def _signal_subprocesses(self, context):
         log_prefix_format = (
             'subprocess[pid={}] of process['
             f'{process_name}, pid={process_pid}]: ')
-        # signal_subprocesses_timeout_v = perform_substitutions(
-        #     context, signal_subprocesses_timeout)
         next_signals = iter(((signal.SIGTERM, sigterm_timeout), (signal.SIGKILL, sigkill_timeout)))
         while True:
             for p in to_signal:
@@ -559,13 +557,15 @@ async def _signal_subprocesses(self, context):
                 sig, timeout = next(next_signals)
             except StopIteration:
                 return
-            while context.asyncio_loop.time() < start_time + timeout:
-                await asyncio.sleep(0.5)
+            current_time = context.asyncio_loop.time()
+            while current_time < start_time + timeout:
+                await asyncio.sleep(min(0.5, start_time + timeout - current_time))
                 for p in list(signaled):
-                    log_prefix = log_prefix_format.format(p.pid)
                     if not p.is_running():
-                        self.__logger.info(f'{log_prefix} exited')
+                        log_prefix = log_prefix_format.format(p.pid)
+                        self.__logger.info(f'{log_prefix}exited')
                         signaled.remove(p)
+                current_time = context.asyncio_loop.time()
             to_signal = signaled
             signaled = []