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Fix rcl_wait timeout for infinite wait #38

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Fix rcl_wait timeout for infinite wait #38

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14 changes: 9 additions & 5 deletions rmw_unix_socket_cpp/src/rmw_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -395,12 +395,16 @@ rmw_ret_t rmw_wait(
}
}

// Bound the wait so an idle executor loops and re-runs the top-of-wait
// TRANSIENT_LOCAL late-joiner replay: a joining subscriber only bumps the
// shm generation counter (no fd fires), so an unbounded wait would never
// replay to it. Only shortens the timeout; a non-blocking 0 stays 0.
// Bound waits only when data endpoints are present, so idle executors can
// re-run top-of-wait and trigger TRANSIENT_LOCAL late-joiner replay.
// Graph-listener style waits (guard conditions only) keep infinite-wait
// semantics and must not surface synthetic timeouts.
constexpr int TL_REPLAY_POLL_MS = 200;
if (timeout_ms < 0 || timeout_ms > TL_REPLAY_POLL_MS) {
const bool has_data_endpoints =
(subscriptions && subscriptions->subscriber_count > 0) ||
(services && services->service_count > 0) ||
(clients && clients->client_count > 0);
if (has_data_endpoints && (timeout_ms < 0 || timeout_ms > TL_REPLAY_POLL_MS)) {
timeout_ms = TL_REPLAY_POLL_MS;
}

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