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Early wakeup should not advance loop deadline. #128

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Early wakeup should not advance loop deadline. #128

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11 changes: 9 additions & 2 deletions behaviortree_ros2/src/tree_execution_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,13 +251,20 @@ void TreeExecutionServer::execute(
goal_handle->publish_feedback(feedback);
}

const auto now = std::chrono::steady_clock::now();
auto now = std::chrono::steady_clock::now();
if(now < loop_deadline)
{
p_->tree.sleep(std::chrono::duration_cast<std::chrono::system_clock::duration>(
loop_deadline - now));
now = std::chrono::steady_clock::now();
}
// If sleep was woken early, it will still be before the next deadline
// so it might still be necessary to wait for it. Only advance to the
// next deadline if one has passed.
if(now >= loop_deadline)
{
loop_deadline += period;
}
loop_deadline += period;
}
}
catch(const std::exception& ex)
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