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add wait_for_action_server() for action clients (#598)

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* add wait_for_action_server() for action clients

Signed-off-by: William Woodall <william@osrfoundation.org>

* Handle negative timeouts in wait_for_service() and wait_for_action_server() methods.

* Fix uncrustify errors.

* Ignore take failure on services for connext
This commit is contained in:
William Woodall 2018-12-06 18:57:25 -08:00 • committed by Shane Loretz
parent ef2014ac4d
commit 8bffd25746
7 changed files with 155 additions and 13 deletions
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15
rclcpp/src/rclcpp/client.cpp
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@ -129,13 +129,15 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
}
// update the time even on the first loop to account for time spent in the first call
// to this->server_is_ready()
std::chrono::nanoseconds time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
if (timeout > std::chrono::nanoseconds(0) && time_to_wait < std::chrono::nanoseconds(0)) {
std::chrono::nanoseconds time_to_wait =
timeout > std::chrono::nanoseconds(0) ?
timeout - (std::chrono::steady_clock::now() - start) :
std::chrono::nanoseconds::max();
if (time_to_wait < std::chrono::nanoseconds(0)) {
// Do not allow the time_to_wait to become negative when timeout was originally positive.
// Setting time_to_wait to 0 will allow one non-blocking wait because of the do-while.
time_to_wait = std::chrono::nanoseconds(0);
}
// continue forever if timeout is negative, otherwise continue until out of time_to_wait
do {
if (!rclcpp::ok(this->context_)) {
return false;
@ -156,8 +158,11 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
return true;
}
// server is not ready, loop if there is time left
time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
} while (time_to_wait > std::chrono::nanoseconds(0) || timeout < std::chrono::nanoseconds(0));
if (timeout > std::chrono::nanoseconds(0)) {
time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
}
// if timeout is negative, time_to_wait will never reach zero
} while (time_to_wait > std::chrono::nanoseconds(0));
return false; // timeout exceeded while waiting for the server to be ready
}