fix: remove agnocast::ok() from executor (#358)

* remove agnocast::ok() from executor Signed-off-by: koichiimai <kotty.0704@gmail.com> * delete agnocast::ok() Signed-off-by: koichiimai <kotty.0704@gmail.com> --------- Signed-off-by: koichiimai <kotty.0704@gmail.com>
tier4 · Feb 5, 2025 · 5ab3119 · 5ab3119
1 parent 5825d64
commit 5ab3119
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Showing 5 changed files with 7 additions and 12 deletions.
diff --git a/src/agnocastlib/include/agnocast.hpp b/src/agnocastlib/include/agnocast.hpp
@@ -24,8 +24,6 @@ namespace agnocast
 
 extern "C" void * initialize_agnocast(const uint64_t shm_size);
 
-bool ok();
-
 template <typename MessageT>
 typename Publisher<MessageT>::SharedPtr create_publisher(
   rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos)

diff --git a/src/agnocastlib/src/agnocast.cpp b/src/agnocastlib/src/agnocast.cpp
@@ -14,18 +14,12 @@ namespace agnocast
 {
 
 int agnocast_fd = -1;
-std::atomic<bool> is_running = true;
 std::vector<std::thread> threads;
 extern mqd_t mq_new_publisher;
 
 std::vector<int> shm_fds;
 std::mutex shm_fds_mtx;
 
-bool ok()
-{
-  return is_running.load();
-}
-
 bool already_mapped(const pid_t pid)
 {
   static pthread_mutex_t mapped_pid_mtx = PTHREAD_MUTEX_INITIALIZER;
@@ -130,7 +124,6 @@ void * initialize_agnocast(const uint64_t shm_size)
 static void shutdown_agnocast()
 {
   printf("[INFO] [Agnocast]: shutdown_agnocast started\n");
-  is_running.store(false);
 
   const pid_t pid = getpid();
 

diff --git a/src/agnocastlib/src/agnocast_multi_threaded_executor.cpp b/src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
@@ -76,7 +76,7 @@ void MultiThreadedAgnocastExecutor::ros2_spin()
     {
       std::lock_guard wait_lock{wait_mutex_};
 
-      if (!rclcpp::ok(this->context_) || !agnocast::ok()) {
+      if (!rclcpp::ok(this->context_)) {
         return;
       }
       if (!get_next_executable(any_executable, ros2_next_exec_timeout_)) {
@@ -106,6 +106,10 @@ void MultiThreadedAgnocastExecutor::agnocast_spin()
 
     agnocast::AgnocastExecutables agnocast_executables;
 
+    if (!rclcpp::ok(this->context_)) {
+      return;
+    }
+
     // Unlike a single-threaded executor, in a multi-threaded executor, each thread is dedicated to
     // handling either ROS 2 callbacks or Agnocast callbacks exclusively.
     // Given this separation, get_next_agnocast_executables() can block indefinitely without a

diff --git a/src/agnocastlib/src/agnocast_single_threaded_executor.cpp b/src/agnocastlib/src/agnocast_single_threaded_executor.cpp
@@ -25,7 +25,7 @@ void SingleThreadedAgnocastExecutor::spin()
 
   // TODO(sykwer): Transient local
 
-  while (rclcpp::ok(this->context_) && agnocast::ok() && spinning.load()) {
+  while (rclcpp::ok(this->context_) && spinning.load()) {
     if (need_epoll_updates.exchange(false)) {
       prepare_epoll();
     }

diff --git a/src/agnocastlib/src/agnocast_subscription.cpp b/src/agnocastlib/src/agnocast_subscription.cpp
@@ -49,7 +49,7 @@ static void wait_for_new_publisher(const pid_t subscriber_pid)
 
   // Create a thread that maps the areas for publishers afterwards
   auto th = std::thread([=]() {
-    while (agnocast::ok()) {
+    while (true) {
       MqMsgNewPublisher mq_msg = {};
       auto ret = mq_receive(mq, reinterpret_cast<char *>(&mq_msg), sizeof(mq_msg), nullptr);
       if (ret == -1) {