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Ensure correct sleep in 'rmw_wait' (backport #344) #345

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Merged
David-LP99 merged 1 commit into from
Oct 6, 2026
Merged

Ensure correct sleep in 'rmw_wait' (backport #344) #345

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6 changes: 4 additions & 2 deletions rmw_microxrcedds_c/src/rmw_wait.c
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,9 @@ rmw_wait(
if (NULL == wait_timeout || rmw_time_equal(*wait_timeout, (rmw_time_t)RMW_DURATION_INFINITE)) {
timeout.i32 = UXR_TIMEOUT_INF;
} else {
timeout.i64 = rmw_time_total_nsec(*wait_timeout) / 1000000ULL;
// Round non-zero values up to nearest millisecond to sleep at least 1 ms and
// never wake up early (e.g. 0 ns -> 0 ms, 1 ns or 999999 ns -> 1 ms)
timeout.i64 = (rmw_time_total_nsec(*wait_timeout) + 999999ULL) / 1000000ULL;
timeout.i32 = (timeout.i64 > INT32_MAX) ? INT32_MAX : timeout.i64;
}

Expand Down Expand Up @@ -139,7 +141,7 @@ rmw_wait(
// wait, guard conditions are polled between slices and the deadline is not overshot.
item = session_memory.allocateditems;
int64_t now = uxr_millis();
while (!data_available && !guard_condition_triggered && now < deadline) {
while (!data_available && !guard_condition_triggered && now <= deadline) {
rmw_context_impl_t * custom_context = (rmw_context_impl_t *)item->data;
const int64_t remaining = deadline - now;
const int32_t slice = (remaining < RMW_UXRCE_MAX_SESSION_WAIT_SLICE_MS) ?
Expand Down
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