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emcy: Fix maximum timeout logic errors in EmcyConsumer.wait()#668
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acolomb wants to merge 3 commits into
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emcy: Fix maximum timeout logic errors in EmcyConsumer.wait()#668acolomb wants to merge 3 commits into
acolomb wants to merge 3 commits into
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If an EMCY package was received, but filtered out by the emcy_code matching, the condition waiting is started again with the same timeout. Thus the actual maximum waiting time is not correctly limited to the given argument, as the docstring promises. Track the remaining time until the initial deadline instead, as basis for the condition wait. Further, spurious wake-ups from the condition wait on the OS level are not handled correctly. The threading.Condition docs explicitly recommend checking the shared state (number of logged entries in this case) in the while loop, because the wait() call may abort early. The current code assumes that this necessarily indicates a timeout, without checking the actually passed time again. Reorder the check against end_time in the loop to avoid this.
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If an EMCY package was received, but filtered out by the emcy_code matching, the condition waiting is started again with the same timeout. Thus the actual maximum waiting time is not correctly limited to the given argument, as the docstring promises. Track the remaining time until the initial deadline instead, as basis for the condition wait.
Further, spurious wake-ups from the condition wait on the OS level are not handled correctly. The threading.Condition docs explicitly recommend checking the shared state (number of logged entries in this case) in the while loop, because the wait() call may abort early. The current code assumes that this necessarily indicates a timeout, without checking the actually passed time again. Reorder the check against end_time in the loop to avoid this.