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Avoid waiting in loops #164

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Avoid waiting in loops #164

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26 changes: 15 additions & 11 deletions actionlib/src/actionlib/simple_action_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
# Author: Alexander Sorokin.
# Based on C++ simple_action_server.h by Eitan Marder-Eppstein
import rospy
import rospy.core
import threading
import traceback

Expand Down Expand Up @@ -70,7 +71,6 @@ def __init__(self, name, ActionSpec, execute_cb=None, auto_start=True):
self.preempt_callback = None

self.need_to_terminate = False
self.terminate_mutex = threading.RLock()

# since the internal_goal/preempt_callbacks are invoked from the
# ActionServer while holding the self.action_server.lock
Expand All @@ -91,11 +91,17 @@ def __init__(self, name, ActionSpec, execute_cb=None, auto_start=True):

# create the action server
self.action_server = ActionServer(name, ActionSpec, self.internal_goal_callback, self.internal_preempt_callback, auto_start)
rospy.core.add_shutdown_hook(self.request_shutdown)

def request_shutdown(self, _):
with self.execute_condition:
self.execute_condition.notify()

def __del__(self):
if hasattr(self, 'execute_callback') and self.execute_callback:
with self.terminate_mutex:
self.need_to_terminate = True
self.need_to_terminate = True
with self.execute_condition:
self.execute_condition.notify()

assert(self.execute_thread)
self.execute_thread.join()
Expand Down Expand Up @@ -263,12 +269,13 @@ def internal_preempt_callback(self, preempt):

## @brief Called from a separate thread to call blocking execute calls
def executeLoop(self):
loop_duration = rospy.Duration.from_sec(.1)

while (not rospy.is_shutdown()):
with self.terminate_mutex:
if (self.need_to_terminate):
break
while not rospy.core.is_shutdown_requested():
with self.execute_condition:
self.execute_condition.wait()

if self.need_to_terminate or rospy.core.is_shutdown_requested():
break

# the following checks (is_active, is_new_goal_available)
# are performed without locking
Expand Down Expand Up @@ -297,6 +304,3 @@ def executeLoop(self):
rospy.logerr("Exception in your execute callback: %s\n%s", str(ex),
traceback.format_exc())
self.set_aborted(None, "Exception in execute callback: %s" % str(ex))

with self.execute_condition:
self.execute_condition.wait(loop_duration.to_sec())