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added wait method to AsyncParametersClient (#342)

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* added wait and ready methods to AsyncParametersClient

* style only

* style only

* remove RCLCPP_PUBLIC from template methods

* style
This commit is contained in:
Dirk Thomas 2017-07-10 10:22:08 -07:00 • committed by GitHub
parent 9dd3d4c3c5
commit 40b09b5b14
2 changed files with 56 additions and 0 deletions
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19
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -101,6 +101,25 @@ public:
"parameter_events", std::forward<CallbackT>(callback), rmw_qos_profile_parameter_events); "parameter_events", std::forward<CallbackT>(callback), rmw_qos_profile_parameter_events);
} }
RCLCPP_PUBLIC
bool
service_is_ready() const;
template<typename RatioT = std::milli>
bool
wait_for_service(
std::chrono::duration<int64_t, RatioT> timeout = std::chrono::duration<int64_t, RatioT>(-1))
{
return wait_for_service_nanoseconds(
std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
);
}
protected:
RCLCPP_PUBLIC
bool
wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
private: private:
const rclcpp::node::Node::SharedPtr node_; const rclcpp::node::Node::SharedPtr node_;
rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_; rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;

37
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -229,6 +229,43 @@ AsyncParametersClient::list_parameters(
return future_result; return future_result;
} }
bool
AsyncParametersClient::service_is_ready() const
{
return
get_parameters_client_->service_is_ready() &&
get_parameter_types_client_->service_is_ready() &&
set_parameters_client_->service_is_ready() &&
list_parameters_client_->service_is_ready() &&
describe_parameters_client_->service_is_ready();
}
bool
AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
{
const std::vector<std::shared_ptr<rclcpp::client::ClientBase>> clients = {
get_parameters_client_,
get_parameter_types_client_,
set_parameters_client_,
list_parameters_client_,
describe_parameters_client_
};
for (auto & client : clients) {
auto stamp = std::chrono::steady_clock::now();
if (!client->wait_for_service(timeout)) {
return false;
}
if (timeout > std::chrono::nanoseconds::zero()) {
timeout -= std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::steady_clock::now() - stamp);
if (timeout < std::chrono::nanoseconds::zero()) {
timeout = std::chrono::nanoseconds::zero();
}
}
}
return true;
}
SyncParametersClient::SyncParametersClient( SyncParametersClient::SyncParametersClient(
rclcpp::node::Node::SharedPtr node, rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile) const rmw_qos_profile_t & qos_profile)