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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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28
rclcpp_action/src/server.cpp
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@ -217,11 +217,17 @@ ServerBase::execute_goal_request_received()
&request_header,
message.get());
if (RCL_RET_OK != ret) {
pimpl_->goal_request_ready_ = false;
if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
// Ignore take failure because connext fails if it receives a sample without valid data.
// This happens when a client shuts down and connext receives a sample saying the client is
// no longer alive.
return;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
pimpl_->goal_request_ready_ = false;
GoalID uuid = get_goal_id_from_goal_request(message.get());
convert(uuid, &goal_info);
@ -295,7 +301,14 @@ ServerBase::execute_cancel_request_received()
&request_header,
request.get());
if (RCL_RET_OK != ret) {
pimpl_->cancel_request_ready_ = false;
if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
// Ignore take failure because connext fails if it receives a sample without valid data.
// This happens when a client shuts down and connext receives a sample saying the client is
// no longer alive.
return;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
@ -361,7 +374,14 @@ ServerBase::execute_result_request_received()
ret = rcl_action_take_result_request(
pimpl_->action_server_.get(), &request_header, result_request.get());
if (RCL_RET_OK != ret) {
pimpl_->result_request_ready_ = false;
if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
// Ignore take failure because connext fails if it receives a sample without valid data.
// This happens when a client shuts down and connext receives a sample saying the client is
// no longer alive.
return;
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}