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Signed-off-by: Barry Xu <Barry.Xu@sony.com>
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2020 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include "common.hpp" | ||
|
|
||
| #include <chrono> | ||
| #include <thread> | ||
|
|
||
| #include "rcutils/logging_macros.h" | ||
|
|
||
| #include "osrf_testing_tools_cpp/scope_exit.hpp" | ||
| #include "rcl/error_handling.h" | ||
| #include "rcl/graph.h" | ||
|
|
||
| bool | ||
| wait_for_server_to_be_available( | ||
| rcl_node_t * node, | ||
| rcl_client_t * client, | ||
| size_t max_tries, | ||
| int64_t period_ms) | ||
| { | ||
| size_t iteration = 0; | ||
| while (iteration < max_tries) { | ||
| ++iteration; | ||
| bool is_ready; | ||
| rcl_ret_t ret = rcl_service_server_is_available(node, client, &is_ready); | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, | ||
| "Error in rcl_service_server_is_available: %s", | ||
| rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| if (is_ready) { | ||
| return true; | ||
| } | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(period_ms)); | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| bool | ||
| wait_for_client_to_be_ready( | ||
| rcl_client_t * client, | ||
| rcl_context_t * context, | ||
| size_t max_tries, | ||
| int64_t period_ms) | ||
| { | ||
| rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); | ||
| rcl_ret_t ret = | ||
| rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, 0, context, rcl_get_default_allocator()); | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( | ||
| { | ||
| if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str); | ||
| throw std::runtime_error("error while waiting for client"); | ||
| } | ||
| }); | ||
| size_t iteration = 0; | ||
| while (iteration < max_tries) { | ||
| ++iteration; | ||
| if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| if (rcl_wait_set_add_client(&wait_set, client, NULL) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait_set_add_client: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms)); | ||
| if (ret == RCL_RET_TIMEOUT) { | ||
| continue; | ||
| } | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| for (size_t i = 0; i < wait_set.size_of_clients; ++i) { | ||
| if (wait_set.clients[i] && wait_set.clients[i] == client) { | ||
| return true; | ||
| } | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| bool | ||
| wait_for_service_to_be_ready( | ||
| rcl_service_t * service, | ||
| rcl_context_t * context, | ||
| size_t max_tries, | ||
| int64_t period_ms) | ||
| { | ||
| rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); | ||
| rcl_ret_t ret = | ||
| rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, 0, context, rcl_get_default_allocator()); | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( | ||
| { | ||
| if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str); | ||
| throw std::runtime_error("error waiting for service to be ready"); | ||
| } | ||
| }); | ||
| size_t iteration = 0; | ||
| while (iteration < max_tries) { | ||
| ++iteration; | ||
| if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| if (rcl_wait_set_add_service(&wait_set, service, NULL) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait_set_add_service: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms)); | ||
| if (ret == RCL_RET_TIMEOUT) { | ||
| continue; | ||
| } | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| for (size_t i = 0; i < wait_set.size_of_services; ++i) { | ||
| if (wait_set.services[i] && wait_set.services[i] == service) { | ||
| return true; | ||
| } | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| bool | ||
| wait_for_established_subscription( | ||
| const rcl_publisher_t * publisher, | ||
| size_t max_tries, | ||
| int64_t period_ms) | ||
| { | ||
| size_t iteration = 0; | ||
| rcl_ret_t ret = RCL_RET_OK; | ||
| size_t subscription_count = 0; | ||
| while (iteration < max_tries) { | ||
| ++iteration; | ||
| ret = rcl_publisher_get_subscription_count(publisher, &subscription_count); | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, | ||
| "Error in rcl_publisher_get_subscription_count: %s", | ||
| rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| if (subscription_count == 1) { | ||
| return true; | ||
| } | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(period_ms)); | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| bool | ||
| wait_for_subscription_to_be_ready( | ||
| rcl_subscription_t * subscription, | ||
| rcl_context_t * context, | ||
| size_t max_tries, | ||
| int64_t period_ms) | ||
| { | ||
| rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); | ||
| rcl_ret_t ret = | ||
| rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator()); | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( | ||
| { | ||
| if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str); | ||
| throw std::runtime_error("error waiting for service to be ready"); | ||
| } | ||
| }); | ||
| size_t iteration = 0; | ||
| while (iteration < max_tries) { | ||
| ++iteration; | ||
| if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| if (rcl_wait_set_add_subscription(&wait_set, subscription, NULL) != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| ROS_PACKAGE_NAME, "Error in rcl_wait_set_add_subscription: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms)); | ||
| if (ret == RCL_RET_TIMEOUT) { | ||
| continue; | ||
| } | ||
| if (ret != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string().str); | ||
| return false; | ||
| } | ||
| for (size_t i = 0; i < wait_set.size_of_subscriptions; ++i) { | ||
| if (wait_set.subscriptions[i] && wait_set.subscriptions[i] == subscription) { | ||
| return true; | ||
| } | ||
| } | ||
| } | ||
| return false; | ||
| } |
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