bool wait_ack_for(CommandTransaction &tr) {
unique_lock lock(tr.cond_mutex);
if (tr.ack.wait_for(lock, std::chrono::nanoseconds(ACK_TIMEOUT_DT.toNSec())) == std::cv_status::timeout) {
ROS_WARN_NAMED("cmd", "CMD: Command %u -- wait ack timeout", tr.expected_command);
return false;
} else {
return true;
}
}
bool wait_ack_for(CommandTransaction *tr) {
std::unique_lock<std::mutex> lock(tr->cond_mutex);
return tr->ack.wait_for(lock, std::chrono::nanoseconds(ACK_TIMEOUT_DT.toNSec()))
== std::cv_status::no_timeout;
}
