C++ (Cpp) rcl_wait_set_add_timer 예제들

예제 #1

파일: allocator_memory_strategy.hpp 프로젝트: jwang11/rclcpp

  bool add_handles_to_wait_set(rcl_wait_set_t * wait_set)
  {
    for (auto subscription : subscription_handles_) {
      if (rcl_wait_set_add_subscription(wait_set, subscription) != RCL_RET_OK) {
        RCUTILS_LOG_ERROR_NAMED(
          "rclcpp",
          "Couldn't add subscription to wait set: %s", rcl_get_error_string_safe());
        return false;
      }
    }

    for (auto client : client_handles_) {
      if (rcl_wait_set_add_client(wait_set, client) != RCL_RET_OK) {
        RCUTILS_LOG_ERROR_NAMED(
          "rclcpp",
          "Couldn't add client to wait set: %s", rcl_get_error_string_safe());
        return false;
      }
    }

    for (auto service : service_handles_) {
      if (rcl_wait_set_add_service(wait_set, service) != RCL_RET_OK) {
        RCUTILS_LOG_ERROR_NAMED(
          "rclcpp",
          "Couldn't add service to wait set: %s", rcl_get_error_string_safe());
        return false;
      }
    }

    for (auto timer : timer_handles_) {
      if (rcl_wait_set_add_timer(wait_set, timer) != RCL_RET_OK) {
        RCUTILS_LOG_ERROR_NAMED(
          "rclcpp",
          "Couldn't add timer to wait set: %s", rcl_get_error_string_safe());
        return false;
      }
    }

    for (auto guard_condition : guard_conditions_) {
      if (rcl_wait_set_add_guard_condition(wait_set, guard_condition) != RCL_RET_OK) {
        RCUTILS_LOG_ERROR_NAMED(
          "rclcpp",
          "Couldn't add guard_condition to wait set: %s",
          rcl_get_error_string_safe());
        return false;
      }
    }
    return true;
  }

예제 #2

파일: test_waitable.cpp 프로젝트: ros2/system_tests

 bool
 add_to_wait_set(rcl_wait_set_t * wait_set) override
 {
   rcl_ret_t ret = rcl_wait_set_add_timer(wait_set, timer_.get(), &timer_idx_);
   return RCL_RET_OK == ret;
 }