Add executor spinning in the background

To prevent users from having to implement
the feature themselves and provide an alternative
to the old spinning behaviour.
The new executor uses a long running `Task` instead of a `Thread`
to provide better integration with the C# ecosystem.

Author: Deric-W

src/ros2cs/ros2cs_core/CMakeLists.txt

@@ -114,6 +114,7 @@ set(CS_SOURCES
   Context.cs
   GuardCondition.cs
   executors/ManualExecutor.cs
+  executors/TaskExecutor.cs
   properties/AssemblyInfo.cs
 )
 

src/ros2cs/ros2cs_core/executors/ManualExecutor.cs

@@ -18,6 +18,7 @@
 using System.Diagnostics;
 using System.Linq;
 using System.Threading;
+using System.Threading.Tasks;
 
 namespace ROS2.Executors
 {
@@ -433,6 +434,26 @@ public void SpinWhile(Func<bool> condition, TimeSpan timeout)
             }
         }
 
+        /// <summary>
+        /// Create a task which calls <see cref="SpinWhile"/> when started.
+        /// </summary>
+        /// <remarks>
+        /// The resulting task prevents <see cref="TrySpin"/> and <see cref="Rescan"/> from being called
+        /// and this instance as well as its context from being disposed safely while it is running.
+        /// </remarks>
+        /// <param name="timeout"> Maximum time to wait for work to become available. </param>
+        /// <param name="cancellationToken"> Token to cancel the task. </param>
+        /// <returns> Task representing the spin operation. </returns>
+        public Task CreateSpinTask(TimeSpan timeout, CancellationToken cancellationToken)
+        {
+            return new Task(() => {
+                using (cancellationToken.Register(this.Interrupt))
+                {
+                    this.SpinWhile(() => { cancellationToken.ThrowIfCancellationRequested(); return true; }, timeout);
+                }
+            }, cancellationToken, TaskCreationOptions.LongRunning);
+        }
+
         /// <remarks>
         /// This method is not thread safe and may not be called from
         /// multiple threads simultaneously or while the executor is in use.

src/ros2cs/ros2cs_core/executors/TaskExecutor.cs

@@ -0,0 +1,191 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace ROS2.Executors
+{
+    /// <summary>
+    /// Executor which wraps a <see cref="ManualExecutor"/> and automatically
+    /// executes the task created by <see cref="ManualExecutor.CreateSpinTask"/>.
+    /// </summary>
+    /// <remarks>
+    /// The spin task is automatically stopped when <see cref="Dispose"/>
+    /// is called or the context is shut down.
+    /// </remarks>
+    public sealed class TaskExecutor : IExecutor
+    {
+        /// <summary>
+        /// Task managed by this executor.
+        /// </summary>
+        public Task Task { get; private set; }
+
+        private readonly CancellationTokenSource CancellationSource = new CancellationTokenSource();
+
+        private readonly ManualExecutor Executor;
+
+        private readonly Context Context;
+
+        /// <param name="context"> Context associated with this executor. </param>
+        /// <param name="timeout"> Maximum time to wait for work to become available. </param>
+        public TaskExecutor(Context context, TimeSpan timeout)
+        {
+            this.Context = context;
+            this.Executor = new ManualExecutor(context);
+            this.Task = this.Executor.CreateSpinTask(timeout, this.CancellationSource.Token);
+            try
+            {
+                context.OnShutdown += this.StopSpinTask;
+                this.Task.Start();
+            }
+            catch (SystemException)
+            {
+                try
+                {
+                    context.OnShutdown -= this.StopSpinTask;
+                }
+                finally
+                {
+                    this.Executor.Dispose();
+                }
+                throw;
+            }
+        }
+
+        /// <inheritdoc/>
+        public bool IsDisposed
+        {
+            get => this.Executor.IsDisposed;
+        }
+
+        /// <inheritdoc/>
+        public int Count
+        {
+            get => this.Executor.Count;
+        }
+
+        /// <inheritdoc/>
+        public bool IsReadOnly
+        {
+            get => this.Executor.IsReadOnly;
+        }
+
+        /// <inheritdoc/>
+        public void Add(INode node)
+        {
+            this.Executor.Add(node);
+        }
+
+        /// <inheritdoc/>
+        public void Clear()
+        {
+            this.Executor.Clear();
+        }
+
+        /// <inheritdoc/>
+        public bool Contains(INode node)
+        {
+            return this.Executor.Contains(node);
+        }
+
+        /// <inheritdoc/>
+        public void CopyTo(INode[] array, int arrayIndex)
+        {
+            this.Executor.CopyTo(array, arrayIndex);
+        }
+
+        /// <inheritdoc/>
+        public bool Remove(INode node)
+        {
+            return this.Executor.Remove(node);
+        }
+
+        /// <inheritdoc/>
+        public IEnumerator<INode> GetEnumerator()
+        {
+            return this.Executor.GetEnumerator();
+        }
+
+        /// <inheritdoc/>
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return this.GetEnumerator();
+        }
+
+        /// <inheritdoc />
+        public void ScheduleRescan()
+        {
+            this.Executor.ScheduleRescan();
+        }
+
+        /// <inheritdoc />
+        public bool TryScheduleRescan(INode node)
+        {
+            return this.Executor.TryScheduleRescan(node);
+        }
+
+        /// <inheritdoc />
+        public void Wait()
+        {
+            this.Executor.Wait();
+        }
+
+        /// <inheritdoc />
+        public bool TryWait(TimeSpan timeout)
+        {
+            return this.Executor.TryWait(timeout);
+        }
+
+        /// <summary>
+        /// Stop the spin task and return after it has stopped.
+        /// </summary>
+        /// <remarks>
+        /// This function returns immediately if the spin task
+        /// has already been stopped.
+        /// </remarks>
+        private void StopSpinTask()
+        {
+            try
+            {
+                this.CancellationSource.Cancel();
+            }
+            catch (ObjectDisposedException)
+            {
+                // task has been canceled before
+            }
+            try
+            {
+                this.Task.Wait();
+            }
+            catch (AggregateException e)
+            {
+                e.Handle(inner => inner is TaskCanceledException);
+            }
+            catch (ObjectDisposedException)
+            {
+                // task has already stopped
+            }
+        }
+
+        /// <inheritdoc />
+        /// <remarks>
+        /// The wrapper handles stopping the spin task.
+        /// </remarks>
+        public void Dispose()
+        {
+            try
+            {
+                this.StopSpinTask();
+            }
+            catch (AggregateException)
+            {
+                // prevent faulted task from preventing disposal
+            }
+            this.Context.OnShutdown -= this.StopSpinTask;
+            this.Task.Dispose();
+            this.Executor.Dispose();
+            this.CancellationSource.Dispose();
+        }
+    }
+}

src/ros2cs/ros2cs_tests/CMakeLists.txt

@@ -54,6 +54,7 @@ if(BUILD_TESTING)
     src/WaitSetTest.cs
     src/GuardConditionTest.cs
     src/ManualExecutorTest.cs
+    src/TaskExecutorTest.cs
   )
 
   add_dotnet_test(ros2cs_tests

src/ros2cs/ros2cs_tests/src/ManualExecutorTest.cs

@@ -16,6 +16,7 @@
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Threading;
+using System.Threading.Tasks;
 using NUnit.Framework;
 using ROS2.Executors;
 
@@ -319,6 +320,92 @@ public void Clear()
             Assert.That(this.Executor.RescanScheduled, Is.True);
         }
 
+        [Test]
+        public void SpinInTask()
+        {
+            using ManualResetEventSlim wasSpun = new ManualResetEventSlim(false);
+            using var guardCondition = this.Context.CreateGuardCondition(wasSpun.Set);
+            this.WaitSet.GuardConditions.Add(guardCondition);
+
+            using var cancellationSource = new CancellationTokenSource();
+            using Task spinTask = this.Executor.CreateSpinTask(TimeSpan.FromSeconds(0.5), cancellationSource.Token);
+
+            Assert.That(spinTask.Status, Is.EqualTo(TaskStatus.Created));
+
+            spinTask.Start();
+            try
+            {
+                while (spinTask.Status != TaskStatus.Running)
+                {
+                    Thread.Yield(); // wait for task to be scheduled
+                }
+                Assert.That(wasSpun.Wait(TimeSpan.FromSeconds(1)), Is.False);
+                guardCondition.Trigger();
+                Assert.That(wasSpun.Wait(TimeSpan.FromSeconds(1)), Is.True);
+                wasSpun.Reset();
+            }
+            finally
+            {
+                cancellationSource.Cancel();
+                try
+                {
+                    spinTask.Wait();
+                }
+                catch (AggregateException e)
+                {
+                    e.Handle(inner => inner is TaskCanceledException);
+                }
+            }
+
+            Assert.That(spinTask.Status, Is.EqualTo(TaskStatus.Canceled));
+            guardCondition.Trigger();
+            Assert.That(wasSpun.Wait(TimeSpan.FromSeconds(1)), Is.False);
+        }
+
+        [Test]
+        public void ExceptionWhileSpinningInTask()
+        {
+            using var guardCondition = this.Context.CreateGuardCondition(() =>
+            {
+                throw new SimulatedException("simulating runtime exception");
+            });
+            this.WaitSet.GuardConditions.Add(guardCondition);
+
+            using var cancellationSource = new CancellationTokenSource();
+            using Task spinTask = this.Executor.CreateSpinTask(TimeSpan.FromSeconds(0.5), cancellationSource.Token);
+
+            spinTask.Start();
+            try
+            {
+                while (spinTask.Status != TaskStatus.Running)
+                {
+                    Thread.Yield(); // wait for task to be scheduled
+                }
+                guardCondition.Trigger();
+                var exception = Assert.Throws<AggregateException>(() => spinTask.Wait(TimeSpan.FromSeconds(1)));
+                Assert.That(exception.InnerExceptions, Has.Some.Matches(new Predicate<Exception>(e => e is SimulatedException)));
+                Assert.That(spinTask.Status, Is.EqualTo(TaskStatus.Faulted));
+            }
+            finally
+            {
+                cancellationSource.Cancel();
+                try
+                {
+                    spinTask.Wait();
+                }
+                catch (AggregateException e)
+                {
+                    e.Handle(inner => inner is TaskCanceledException || inner is SimulatedException);
+                }
+            }
+        }
+
+        private sealed class SimulatedException : Exception
+        {
+            public SimulatedException(string msg) : base(msg)
+            { }
+        }
+
         private sealed class DummyExecutor : HashSet<INode>, IExecutor
         {
             public bool IsDisposed
@@ -343,7 +430,7 @@ public bool TryWait(TimeSpan timeout)
             }
 
             public void Dispose()
-            {}
+            { }
         }
     }
 }