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Is it possible to avoid busy-waiting in a spinner? [closed]

asked 2011-04-10 13:20:59 -0500

Jim Rothrock gravatar image

I've read the Callbacks and Spinning page, and have written the following spinner:

void SteeringCtrlr::callCallbacks()
  static const double timeout = 0.01;
  while (node_->ok())

If there are no callbacks in the queue, the "while" loop will busy-wait, using a lot of CPU time. I could not find a CallbackQueue equivalent of select(). Is it possible to implement such a thing? For example, is it possible to call select() on the sockets over which topic messages and service calls are received (if sockets are used for that purpose). I can reduce the frequency with which callAvailable() is called by creating a ros::Rate object and calling sleep() on it, but I'd rather avoid busy waiting at all if possible.

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Closed for the following reason the question is answered, right answer was accepted by Jim Rothrock
close date 2015-08-24 17:58:55.154733

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answered 2011-04-11 00:15:21 -0500

Lorenz gravatar image

As I understand the documentation, your loop above does not cause busy-waiting and should not at all consume a lot of CPU time. callAvailable will block and wait for an event to arrive until timeout expires. Internally, callAvailable performs a timed_wait on a condition variable that gets triggered whenever a new callback becomes available.

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Thank you. I did not understand the distinction between a callback that is "ready" and one that is "available," thinking that the terms were synonymous. Also, I was confused by the phrase "wait for a callback to be available" in the documentation. I'm accustomed to GUI callback systems, in which a callback is a function, and therefore is always available. I now understand that what is meant is "wait for a callback-triggering event, such as a message from a topic, to be available." I hope this clarification helps someone.
Jim Rothrock gravatar image Jim Rothrock  ( 2011-04-13 16:19:52 -0500 )edit
Still, 0.01 seconds timeout is not very much. The CPU usage would decrease even more with a longer wait, if you can afford the additional lag on node termination.
roehling gravatar image roehling  ( 2011-09-22 06:32:40 -0500 )edit

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Asked: 2011-04-10 13:20:59 -0500

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Last updated: Apr 11 '11