From 3829c945e466c939cf4450c9ebc377883c7c15c9 Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Fri, 24 Jul 2015 16:49:58 -0700
Subject: [PATCH] Refactor to pass std::chrono::duration to executor spin,
 wait_for_work

---
 rclcpp/include/rclcpp/executor.hpp | 35 +++++++++++++++++++++++-------
 1 file changed, 27 insertions(+), 8 deletions(-)

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 53e176e..36254ce 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -107,11 +107,13 @@ public:
     }
   }
 
-  void spin_node_once(rclcpp::node::Node::SharedPtr & node, bool nonblocking = false)
+  template<typename T = std::milli>
+  void spin_node_once(rclcpp::node::Node::SharedPtr & node,
+    std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
   {
     this->add_node(node, false);
     // non-blocking = true
-    auto any_exec = get_next_executable(nonblocking);
+    auto any_exec = get_next_executable(timeout);
     if (any_exec) {
       execute_any_executable(any_exec);
     }
@@ -122,7 +124,9 @@ public:
   {
     this->add_node(node, false);
     // non-blocking = true
-    while (AnyExecutable::SharedPtr any_exec = get_next_executable(true)) {
+    while (AnyExecutable::SharedPtr any_exec =
+      get_next_executable(std::chrono::milliseconds::zero()))
+    {
       execute_any_executable(any_exec);
     }
     this->remove_node(node, false);
@@ -240,8 +244,9 @@ protected:
 
 /*** Populate class storage from stored weak node pointers and wait. ***/
 
+  template<typename T = std::milli>
   void
-  wait_for_work(bool nonblocking)
+  wait_for_work(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
   {
     // Collect the subscriptions and timers to be waited on
     bool has_invalid_weak_nodes = false;
@@ -371,14 +376,26 @@ protected:
       guard_cond_handle_index += 1;
     }
 
+    rmw_time_t * wait_timeout = NULL;
+    rmw_time_t rmw_timeout;
+
+    if (timeout >= std::chrono::duration<int64_t, T>::zero()) {
+      // Convert timeout representation to rmw_time
+      auto timeout_sec = std::chrono::duration_cast<std::chrono::seconds>(timeout);
+      rmw_timeout.sec = timeout_sec.count();
+      rmw_timeout.nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count() %
+        (1000 * 1000 * 1000);
+      wait_timeout = &rmw_timeout;
+    }
+
     // Now wait on the waitable subscriptions and timers
     rmw_ret_t status = rmw_wait(
       &subscriber_handles,
       &guard_condition_handles,
       &service_handles,
       &client_handles,
-      nonblocking);
-    if (status != RMW_RET_OK) {
+      wait_timeout);
+    if (status != RMW_RET_OK && status != RMW_RET_TIMEOUT) {
       throw std::runtime_error(rmw_get_error_string_safe());
     }
     // If ctrl-c guard condition, return directly
@@ -824,8 +841,10 @@ protected:
     return any_exec;
   }
 
+  template<typename T = std::milli>
   AnyExecutable::SharedPtr
-  get_next_executable(bool nonblocking = false)
+  get_next_executable(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t,
+    T>(-1))
   {
     // Check to see if there are any subscriptions or timers needing service
     // TODO(wjwwood): improve run to run efficiency of this function
@@ -833,7 +852,7 @@ protected:
     // If there are none
     if (!any_exec) {
       // Wait for subscriptions or timers to work on
-      wait_for_work(nonblocking);
+      wait_for_work(timeout);
       // Try again
       any_exec = get_next_ready_executable();
     }