C++ (Cpp) rcl_get_zero_initialized_wait_set示例

示例#1

文件： client_fixture.cpp 项目： dhood/rcl

bool
wait_for_client_to_be_ready(
  rcl_client_t * client,
  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, rcl_get_default_allocator());
  if (ret != RCL_RET_OK) {
    fprintf(stderr, "Error in wait set init: %s\n", rcl_get_error_string_safe());
    return false;
  }
  auto wait_set_exit = make_scope_exit([&wait_set]() {
    if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
      fprintf(stderr, "Error in wait set fini: %s\n", rcl_get_error_string_safe());
      throw std::runtime_error("error while waiting for client");
    }
  });
  size_t iteration = 0;
  do {
    ++iteration;
    if (rcl_wait_set_clear_clients(&wait_set) != RCL_RET_OK) {
      fprintf(stderr, "Error in wait_set_clear_clients: %s\n", rcl_get_error_string_safe());
      return false;
    }
    if (rcl_wait_set_add_client(&wait_set, client) != RCL_RET_OK) {
      fprintf(stderr, "Error in wait_set_add_client: %s\n", rcl_get_error_string_safe());
      return false;
    }
    ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
    if (ret == RCL_RET_TIMEOUT) {
      continue;
    }
    if (ret != RCL_RET_OK) {
      fprintf(stderr, "Error in wait: %s\n", rcl_get_error_string_safe());
      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;
      }
    }
  } while (iteration < max_tries);
  return false;
}

示例#2

文件： test_service.cpp 项目： erlerobot/rcl

void
wait_for_service_to_be_ready(
  rcl_service_t * service,
  size_t max_tries,
  int64_t period_ms,
  bool & success)
{
  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, rcl_get_default_allocator());
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
  auto wait_set_exit = make_scope_exit([&wait_set]() {
    stop_memory_checking();
    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
  });
  size_t iteration = 0;
  do {
    ++iteration;
    ret = rcl_wait_set_clear_services(&wait_set);
    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
    ret = rcl_wait_set_add_service(&wait_set, service);
    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
    ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
    if (ret == RCL_RET_TIMEOUT) {
      continue;
    }
    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
    for (size_t i = 0; i < wait_set.size_of_services; ++i) {
      if (wait_set.services[i] && wait_set.services[i] == service) {
        success = true;
        return;
      }
    }
  } while (iteration < max_tries);
  success = false;
}