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Reduce mutex scope in Servo thread (backport #3259) #3262

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merged 1 commit into from
Jan 22, 2025

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@mergify mergify bot commented Jan 22, 2025

Fixes occasional main thread starvation caused by repeatedly creating a lock_guard in the servo loop. One side effect would be that the pause_servo service would not respond. Fairness is improved by removing the thread sleep rate from the lock scope.


This is an automatic backport of pull request #3259 done by [Mergify](https://mergify.com).

Fixes occasional main thread starvation caused by repeatedly
creating a lock_guard in the servo loop. Fairness is improved
by removing the thread sleep rate from the lock scope.

(cherry picked from commit b91e529)
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codecov-commenter commented Jan 22, 2025

⚠️ Please install the 'codecov app svg image' to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 0% with 36 lines in your changes missing coverage. Please review.

Project coverage is 44.12%. Comparing base (ed3862d) to head (b3e2ceb).
Report is 1 commits behind head on jazzy.

Files with missing lines Patch % Lines
moveit_ros/moveit_servo/src/servo_node.cpp 0.00% 36 Missing ⚠️

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Additional details and impacted files
@@            Coverage Diff             @@
##            jazzy    #3262      +/-   ##
==========================================
- Coverage   44.13%   44.12%   -0.00%     
==========================================
  Files         700      700              
  Lines       61663    61664       +1     
  Branches     7471     7471              
==========================================
- Hits        27206    27201       -5     
- Misses      34289    34295       +6     
  Partials      168      168              

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@sea-bass sea-bass merged commit 47f4442 into jazzy Jan 22, 2025
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@sea-bass sea-bass deleted the mergify/bp/jazzy/pr-3259 branch January 22, 2025 23:58
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3 participants