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Use consolidated rcl_wait_set_clear() #230

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merged 2 commits into from
Aug 27, 2018
Merged

Use consolidated rcl_wait_set_clear() #230

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852ad7d
Use consolidated rcl_wait_set_clear()
sloretz Aug 16, 2018
225ec7d
Remove double space
sloretz Aug 27, 2018
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2 changes: 1 addition & 1 deletion rclpy/rclpy/executors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -401,8 +401,8 @@ def _wait_for_ready_callbacks(self, timeout_sec=None, nodes=None):
'service': (services, 'service_handle'),
'timer': (timers, 'timer_handle'),
}
_rclpy.rclpy_wait_set_clear_entities(wait_set)
for entity, (handles, handle_name) in entities.items():
_rclpy.rclpy_wait_set_clear_entities(entity, wait_set)
for h in handles:
_rclpy.rclpy_wait_set_add_entity(
entity, wait_set, h.__getattribute__(handle_name)
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28 changes: 5 additions & 23 deletions rclpy/src/rclpy/_rclpy.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2191,48 +2191,30 @@ rclpy_wait_set_init(PyObject * Py_UNUSED(self), PyObject * args)
Py_RETURN_NONE;
}

/// Clear all the pointers of a given wait set field
/// Clear all the pointers in the wait set
/**
* Raises RuntimeError if the entity type is unknown or any rcl error occurs
* Raises RuntimeError if any rcl error occurs
*
* \param[in] entity_type string defining the entity ["subscription, client, service"]
* \param[in] pywait_set Capsule pointing to the wait set structure
* \return NULL
*/
static PyObject *
rclpy_wait_set_clear_entities(PyObject * Py_UNUSED(self), PyObject * args)
{
const char * entity_type;
PyObject * pywait_set;

if (!PyArg_ParseTuple(args, "zO", &entity_type, &pywait_set)) {
if (!PyArg_ParseTuple(args, "O", &pywait_set)) {
return NULL;
}

rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, "rcl_wait_set_t");
if (!wait_set) {
return NULL;
}
rcl_ret_t ret;
if (0 == strcmp(entity_type, "subscription")) {
ret = rcl_wait_set_clear_subscriptions(wait_set);
} else if (0 == strcmp(entity_type, "client")) {
ret = rcl_wait_set_clear_clients(wait_set);
} else if (0 == strcmp(entity_type, "service")) {
ret = rcl_wait_set_clear_services(wait_set);
} else if (0 == strcmp(entity_type, "timer")) {
ret = rcl_wait_set_clear_timers(wait_set);
} else if (0 == strcmp(entity_type, "guard_condition")) {
ret = rcl_wait_set_clear_guard_conditions(wait_set);
} else {
ret = RCL_RET_ERROR; // to avoid a linter warning
PyErr_Format(PyExc_RuntimeError,
"'%s' is not a known entity", entity_type);
return NULL;
}
rcl_ret_t ret = rcl_wait_set_clear(wait_set);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to clear '%s' from wait set: %s", entity_type, rcl_get_error_string_safe());
"Failed to clear wait set: %s", rcl_get_error_string_safe());
rcl_reset_error();
return NULL;
}
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