Fix "roscpp multithreaded spinners eat up CPU when callbacks take too long" #2377
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* Better fix for slow callbacks CPU throttling. * More versatile callback queue test. * Finished cherry-pick merge to melodic-devel. * libros: moved define * roscpp: implementet ros#1608 without ABI/API breaks * /test_roscpp: fake_message is in a header now... * test_roscpp: fixed sign-compare warning * stabilized test * CallbackQueue: use SteadyTime instead of WallTime to get independent of system-time changes * style only * Update clients/roscpp/include/ros/callback_queue.h Co-authored-by: Johannes Meyer <[email protected]> Co-authored-by: Martin Pecka <[email protected]> Co-authored-by: CTU base <robot@ctu-base> Co-authored-by: Martin Pecka <[email protected]> Co-authored-by: Christopher Wecht <christopher.wechtstudent.kit.edu> Co-authored-by: Dirk Thomas <[email protected]> Co-authored-by: Johannes Meyer <[email protected]>
* roscpp: simplify implementation of CallbackQueue::callOne() Replace duplicate wait_for() call in CallbackQueue::callOne() with a loop and a call to wait_until(). * roscpp: return TryAgain from CallbackQueue::callOne(timeout) immediately if timeout.isZero() ... and if none of the other result conditions holds (i.e. the queue is Empty or Disabled). Co-authored-by: Johannes Meyer <[email protected]>
This was referenced Oct 7, 2024
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Resolves #2341:
These two commits were cherry-picked from branch
melodic-devel, with some merge conflict resolutions intest/test_roscpp/test/test_callback_queue.cppdue to updates in #2121.Not sure whether #2121 resolving #1980 is related and would not even have been necessary with these two commits from
melodic-devel? I have not checked those two in detail yet.