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Update spawner to have a timeout on service call #1566

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Update spawner to have a timeout on service call #1566

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e314c2f
Update spawner to have a timeout on service call
Jun 7, 2024
e25efe8
Merge branch 'master' into master
destogl Aug 14, 2024
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49 changes: 38 additions & 11 deletions controller_manager/controller_manager/controller_manager_services.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,9 @@ class ServiceNotFoundError(Exception):
pass


def service_caller(node, service_name, service_type, request, service_timeout=0.0):
def service_caller(
node, service_name, service_type, request, service_timeout=0.0, call_timeout=10.0
):
cli = node.create_client(service_type, service_name)

while not cli.service_is_ready():
Expand All @@ -45,14 +47,16 @@ def service_caller(node, service_name, service_type, request, service_timeout=0.

node.get_logger().debug(f"requester: making request: {request}\n")
future = cli.call_async(request)
rclpy.spin_until_future_complete(node, future)
rclpy.spin_until_future_complete(node, future, timeout_sec=call_timeout)
if future.result() is not None:
return future.result()
else:
raise RuntimeError(f"Exception while calling service: {future.exception()}")


def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def configure_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = ConfigureController.Request()
request.name = controller_name
return service_caller(
Expand All @@ -64,51 +68,61 @@ def configure_controller(node, controller_manager_name, controller_name, service
)


def list_controllers(node, controller_manager_name, service_timeout=0.0):
def list_controllers(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0):
request = ListControllers.Request()
return service_caller(
node,
f"{controller_manager_name}/list_controllers",
ListControllers,
request,
service_timeout,
call_timeout,
)


def list_controller_types(node, controller_manager_name, service_timeout=0.0):
def list_controller_types(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0):
request = ListControllerTypes.Request()
return service_caller(
node,
f"{controller_manager_name}/list_controller_types",
ListControllerTypes,
request,
service_timeout,
call_timeout,
)


def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
def list_hardware_components(
node, controller_manager_name, service_timeout=0.0, call_timeout=10.0
):
request = ListHardwareComponents.Request()
return service_caller(
node,
f"{controller_manager_name}/list_hardware_components",
ListHardwareComponents,
request,
service_timeout,
call_timeout,
)


def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
def list_hardware_interfaces(
node, controller_manager_name, service_timeout=0.0, call_timeout=10.0
):
request = ListHardwareInterfaces.Request()
return service_caller(
node,
f"{controller_manager_name}/list_hardware_interfaces",
ListHardwareInterfaces,
request,
service_timeout,
call_timeout,
)


def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def load_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = LoadController.Request()
request.name = controller_name
return service_caller(
Expand All @@ -117,10 +131,13 @@ def load_controller(node, controller_manager_name, controller_name, service_time
LoadController,
request,
service_timeout,
call_timeout,
)


def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
def reload_controller_libraries(
node, controller_manager_name, force_kill, service_timeout=0.0, call_timeout=10.0
):
request = ReloadControllerLibraries.Request()
request.force_kill = force_kill
return service_caller(
Expand All @@ -129,11 +146,17 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
ReloadControllerLibraries,
request,
service_timeout,
call_timeout,
)


def set_hardware_component_state(
node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
node,
controller_manager_name,
component_name,
lifecyle_state,
service_timeout=0.0,
call_timeout=10.0,
):
request = SetHardwareComponentState.Request()
request.name = component_name
Expand All @@ -144,6 +167,7 @@ def set_hardware_component_state(
SetHardwareComponentState,
request,
service_timeout,
call_timeout,
)


Expand All @@ -170,7 +194,9 @@ def switch_controllers(
)


def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def unload_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = UnloadController.Request()
request.name = controller_name
return service_caller(
Expand All @@ -179,4 +205,5 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti
UnloadController,
request,
service_timeout,
call_timeout,
)
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